Merge branches 'travis', 'fixes', 'visualization' and 'todos'

This commit is contained in:
Robert Haschke 2018-04-15 12:01:19 +02:00
commit 728c1b40e2
11 changed files with 143 additions and 98 deletions

View File

@ -76,9 +76,9 @@ public:
protected:
SolutionBase* storeSequential(const std::vector<robot_trajectory::RobotTrajectoryConstPtr>& sub_trajectories,
const std::vector<planning_scene::PlanningScenePtr>& intermediate_scenes);
robot_trajectory::RobotTrajectoryPtr merge(const std::vector<robot_trajectory::RobotTrajectoryConstPtr>& sub_trajectories,
const std::vector<planning_scene::PlanningScenePtr>& intermediate_scenes,
const moveit::core::RobotState& state);
robot_trajectory::RobotTrajectoryConstPtr merge(const std::vector<robot_trajectory::RobotTrajectoryConstPtr>& sub_trajectories,
const std::vector<planning_scene::PlanningScenePtr>& intermediate_scenes,
const moveit::core::RobotState& state);
protected:
GroupPlannerVector planner_;

View File

@ -64,6 +64,7 @@ MOVEIT_CLASS_FORWARD(Task)
*/
class Task : protected WrapperBase {
public:
// +1 TODO: move into MoveIt! core
static planning_pipeline::PlanningPipelinePtr createPlanner(const moveit::core::RobotModelConstPtr &model,
const std::string &ns = "move_group",
const std::string &planning_plugin_param_name = "planning_plugin",
@ -81,6 +82,7 @@ public:
/// load robot model from given parameter
void loadRobotModel(const std::string& robot_description = "robot_description");
// TODO: use Stage::insert as well?
void add(Stage::pointer &&stage);
void clear() override;
@ -111,6 +113,7 @@ public:
/// publish all top-level solutions
void publishAllSolutions(bool wait = true);
// +1 TODO: convenient access to arbitrary stage by name. traverse hierarchy using / separator?
/// access stage tree
ContainerBase *stages();
const ContainerBase *stages() const;

View File

@ -116,6 +116,8 @@ typedef std::vector<std::vector<double>> IKSolutions;
namespace {
// ??? TODO: provide callback methods in PlanningScene class / probably not very useful here though...
// move into MoveIt! core
bool isTargetPoseColliding(const planning_scene::PlanningScenePtr& scene,
Eigen::Affine3d pose, const robot_model::LinkModel* link)
{
@ -215,6 +217,8 @@ void ComputeIK::onNewSolution(const SolutionBase &s)
assert(s.start()->scene() == s.end()->scene()); // wrapped child should be a generator
planning_scene::PlanningScenePtr sandbox_scene = s.start()->scene()->diff();
// -1 TODO: this should not be necessary in my opinion: Why do you think so?
// It is, because the properties on the interface might change from call to call...
// enforced initialization from interface ensures that new target_pose is read
properties().performInitFrom(INTERFACE, s.start()->properties(), true);
const auto& props = properties();
@ -376,6 +380,9 @@ void ComputeIK::onNewSolution(const SolutionBase &s)
spawn(InterfaceState(scene), std::move(solution));
}
// TODO: magic constant should be a property instead ("current_seed_only", or equivalent)
// Yeah, you are right, these are two different semantic concepts:
// One could also have multiple IK solutions derived from the same seed
if (!succeeded && max_ik_solutions == 1)
break; // first and only attempt failed
}

View File

@ -126,7 +126,7 @@ bool Connect::compatible(const InterfaceState& from_state, const InterfaceState&
const unsigned int num = jm->getVariableCount();
Eigen::Map<const Eigen::VectorXd> positions_from (from.getJointPositions(jm), num);
Eigen::Map<const Eigen::VectorXd> positions_to (to.getJointPositions(jm), num);
if (!positions_from.array().isApprox(positions_to.array())) {
if (!positions_from.array().isApprox(positions_to.array(), 1e-4)) {
ROS_INFO_STREAM_ONCE_NAMED("Connect", "Deviation in joint " << jm->getName()
<< ": [" << positions_from.transpose()
<< "] != [" << positions_to.transpose() << "]");
@ -158,7 +158,7 @@ bool Connect::compute(const InterfaceState &from, const InterfaceState &to) {
end->getCurrentStateNonConst().setJointGroupPositions(jmg, positions);
robot_trajectory::RobotTrajectoryPtr trajectory;
if (!pair.second->plan(start, to.scene(), jmg, timeout, trajectory, path_constraints))
if (!pair.second->plan(start, end, jmg, timeout, trajectory, path_constraints))
break;
sub_trajectories.push_back(trajectory);
@ -176,7 +176,7 @@ bool Connect::compute(const InterfaceState &from, const InterfaceState &to) {
// mark solution as failure
solution->setCost(std::numeric_limits<double>::infinity());
} else {
robot_trajectory::RobotTrajectoryPtr t = merge(sub_trajectories, intermediate_scenes, from.scene()->getCurrentState());
auto t = merge(sub_trajectories, intermediate_scenes, from.scene()->getCurrentState());
if (t) {
connect(from, to, SubTrajectory(t));
return true;
@ -218,11 +218,16 @@ SolutionBase* Connect::storeSequential(const std::vector<robot_trajectory::Robot
return &solutions_.back();
}
robot_trajectory::RobotTrajectoryPtr Connect::merge(const std::vector<robot_trajectory::RobotTrajectoryConstPtr>& sub_trajectories,
const std::vector<planning_scene::PlanningScenePtr>& intermediate_scenes,
const moveit::core::RobotState& state)
robot_trajectory::RobotTrajectoryConstPtr Connect::merge(const std::vector<robot_trajectory::RobotTrajectoryConstPtr>& sub_trajectories,
const std::vector<planning_scene::PlanningScenePtr>& intermediate_scenes,
const moveit::core::RobotState& state)
{
// no need to merge if there is only a single sub trajectory
if (sub_trajectories.size() == 1)
return sub_trajectories[0];
auto jmg = merged_jmg_.get();
assert(jmg);
robot_trajectory::RobotTrajectoryPtr trajectory = task_constructor::merge(sub_trajectories, state, jmg);
// TODO: check merged trajectory for collisions
return trajectory;

View File

@ -122,6 +122,7 @@ bool MoveRelative::compute(const InterfaceState &state, planning_scene::Planning
}
// Cartesian targets require the link name
// TODO: use ik_frame property as in ComputeIK
std::string link_name = props.get<std::string>("link");
const moveit::core::LinkModel* link;
if (link_name.empty())
@ -241,10 +242,12 @@ bool MoveRelative::compute(const InterfaceState &state, planning_scene::Planning
// add an arrow marker
visualization_msgs::Marker m;
// +1 TODO: make "marker" a common property of all stages. However, I would stick with "marker_ns"
m.ns = props.get<std::string>("marker_ns");
if (!m.ns.empty()) {
m.header.frame_id = scene->getPlanningFrame();
if (linear_norm > 1e-3) {
// +1 TODO: arrow could be split into "valid" and "invalid" part (as red cylinder)
rviz_marker_tools::setColor(m.color, success ? rviz_marker_tools::LIME_GREEN
: rviz_marker_tools::RED);
rviz_marker_tools::makeArrow(m, linear_norm);

View File

@ -48,7 +48,7 @@ MoveTo::MoveTo(const std::string& name, const solvers::PlannerInterfacePtr& plan
, planner_(planner)
{
auto& p = properties();
p.declare<double>("timeout", 10.0, "planning timeout");
p.declare<double>("timeout", 10.0, "planning timeout"); // TODO: make this a common property in Stage
p.declare<std::string>("group", "name of planning group");
p.declare<std::string>("link", "", "link to move (default is tip of jmg)");
@ -184,6 +184,8 @@ bool MoveTo::compute(const InterfaceState &state, planning_scene::PlanningSceneP
return success;
}
// -1 TODO: move these as default implementation to PropagateEitherWay?
// Essentially, here compute() is a class-specific worker function
bool MoveTo::computeForward(const InterfaceState &from){
planning_scene::PlanningScenePtr to;
SubTrajectory trajectory;

View File

@ -106,9 +106,10 @@ public:
const moveit::core::RobotStatePtr& getWayPointPtr(size_t index) const {
return getWayPointPtr(indexPair(index));
}
const planning_scene::PlanningSceneConstPtr& startScene() const { return start_scene_; }
const planning_scene::PlanningSceneConstPtr& scene(const IndexPair& idx_pair) const;
const planning_scene::PlanningSceneConstPtr& scene(size_t index) const {
if (index == steps_)
if (index >= steps_)
return data_.back().scene_;
return scene(indexPair(index));
}

View File

@ -88,7 +88,7 @@ protected:
QPushButton* button_;
bool paused_;
int last_way_point_;
bool empty_;
};
} // namespace moveit_rviz_plugin

View File

@ -156,9 +156,9 @@ protected:
void unsetRobotColor(rviz::Robot* robot);
DisplaySolutionPtr displaying_solution_;
DisplaySolutionPtr solution_to_display_;
DisplaySolutionPtr next_solution_to_display_;
std::vector<rviz::Robot*> trail_;
bool animating_ = false;
bool animating_ = false; // auto-progressing the current waypoint?
bool drop_displaying_solution_ = false;
bool locked_ = false;
int current_state_ = -1;

View File

@ -41,6 +41,7 @@ namespace moveit_rviz_plugin
{
TaskSolutionPanel::TaskSolutionPanel(QWidget* parent) : Panel(parent)
{
empty_ = false;
}
TaskSolutionPanel::~TaskSolutionPanel()
@ -92,16 +93,16 @@ void TaskSolutionPanel::onDisable()
void TaskSolutionPanel::update(int way_point_count)
{
int max_way_point = std::max(0, way_point_count - 1);
int max_way_point = std::max(1, way_point_count - 1);
empty_ = (way_point_count == 0);
slider_->setEnabled(way_point_count != 0);
button_->setEnabled(way_point_count != 0);
slider_->setEnabled(way_point_count >= 0);
button_->setEnabled(way_point_count >= 0);
last_way_point_ = max_way_point;
paused_ = false;
slider_->setSliderPosition(0);
slider_->setMaximum(max_way_point);
maximum_label_->setText(QString::number(max_way_point));
maximum_label_->setText(way_point_count >= 0 ? QString::number(way_point_count) : "");
slider_->setSliderPosition(0);
}
void TaskSolutionPanel::pauseButton(bool pause)
@ -115,7 +116,7 @@ void TaskSolutionPanel::pauseButton(bool pause)
{
button_->setText("Pause");
paused_ = false;
if (slider_->sliderPosition() == last_way_point_)
if (slider_->sliderPosition() == slider_->maximum())
slider_->setSliderPosition(0);
}
}
@ -127,7 +128,11 @@ void TaskSolutionPanel::setSliderPosition(int position)
void TaskSolutionPanel::sliderValueChanged(int value)
{
minimum_label_->setText(QString::number(value));
QString text;
if (!slider_->isEnabled()) text = "";
else if (empty_) text = value == 0 ? "S" : "E";
else text = QString::number(value+1);
minimum_label_->setText(text);
}
void TaskSolutionPanel::buttonClicked()

View File

@ -161,7 +161,7 @@ TaskSolutionVisualization::TaskSolutionVisualization(rviz::Property* parent, rvi
TaskSolutionVisualization::~TaskSolutionVisualization()
{
clearTrail();
solution_to_display_.reset();
next_solution_to_display_.reset();
displaying_solution_.reset();
scene_render_.reset();
@ -233,9 +233,11 @@ void TaskSolutionVisualization::onRobotModelLoaded(robot_model::RobotModelConstP
void TaskSolutionVisualization::reset()
{
clearTrail();
solution_to_display_.reset();
next_solution_to_display_.reset();
displaying_solution_.reset();
animating_ = false;
current_state_ = -1;
if (slider_panel_)
slider_panel_->update(-1);
robot_render_->setVisualVisible(robot_visual_enabled_property_->getBool());
robot_render_->setCollisionVisible(robot_collision_enabled_property_->getBool());
@ -253,16 +255,19 @@ void TaskSolutionVisualization::clearTrail()
void TaskSolutionVisualization::changedLoopDisplay()
{
if (loop_display_property_->getBool() && slider_panel_)
// restart animation if current_state_ is at end and looping got activated
if (displaying_solution_ && loop_display_property_->getBool() &&
slider_panel_ && slider_panel_->isVisible() &&
current_state_+1 >= (int)displaying_solution_->getWayPointCount()) {
current_state_ = -1;
slider_panel_->pauseButton(false);
}
}
void TaskSolutionVisualization::changedTrail()
{
clearTrail();
DisplaySolutionPtr t = solution_to_display_;
if (!t)
t = displaying_solution_;
DisplaySolutionPtr t = displaying_solution_;
if (!t || !trail_display_property_->getBool()) {
setVisibility(trail_scene_node_, main_scene_node_, false);
@ -273,8 +278,7 @@ void TaskSolutionVisualization::changedTrail()
setVisibility(trail_scene_node_, main_scene_node_, true);
int stepsize = trail_step_size_property_->getInt();
// always include last trajectory point
trail_.resize((int)std::ceil((t->getWayPointCount() + stepsize - 1) / (float)stepsize));
trail_.resize(t->getWayPointCount() / stepsize);
for (std::size_t i = 0; i < trail_.size(); i++)
{
int waypoint_i = std::min(i * stepsize, t->getWayPointCount() - 1); // limit to last trajectory point
@ -325,7 +329,8 @@ void TaskSolutionVisualization::onDisable()
parent_scene_node_->removeChild(main_scene_node_);
displaying_solution_.reset();
animating_ = false;
next_solution_to_display_.reset();
current_state_ = -1;
if (slider_panel_) {
slider_panel_was_visible_ = slider_panel_->isVisible();
slider_panel_->onDisable();
@ -374,107 +379,121 @@ float TaskSolutionVisualization::getStateDisplayTime()
void TaskSolutionVisualization::update(float wall_dt, float ros_dt)
{
if (drop_displaying_solution_)
{
animating_ = false;
if (drop_displaying_solution_) {
current_state_ = -1;
displaying_solution_.reset();
slider_panel_->update(0);
if (slider_panel_) slider_panel_->update(-1);
drop_displaying_solution_ = false;
}
if (!animating_)
{ // finished last animation
if (current_state_ < 0 || // last animation finished
(slider_panel_ && slider_panel_->isPaused())) {
boost::mutex::scoped_lock lock(display_solution_mutex_);
// new trajectory available to display?
if (solution_to_display_ && (!locked_ || !displaying_solution_)) {
if (next_solution_to_display_ && (!locked_ || !displaying_solution_)) {
current_state_ = -1;
animating_ = true;
displaying_solution_ = solution_to_display_;
displaying_solution_ = next_solution_to_display_;
changedTrail();
if (slider_panel_)
slider_panel_->update(solution_to_display_->getWayPointCount());
}
else if (displaying_solution_) {
if (loop_display_property_->getBool()) {
animating_ = true;
} else if (slider_panel_ && slider_panel_->isVisible()) {
if (slider_panel_->getSliderPosition() >= (int)displaying_solution_->getWayPointCount() - 1)
return; // nothing more to do
else
animating_ = true;
} else if (locked_)
return;
}
solution_to_display_.reset();
if (animating_)
{
// restart animation
current_state_ = -1;
trail_scene_node_->setVisible(false);
slider_panel_->update(next_solution_to_display_->getWayPointCount());
}
// also reset if locked_
next_solution_to_display_.reset();
}
if (!displaying_solution_) {
animating_ = false;
setVisibility();
return;
}
if (animating_)
{
int previous_state = current_state_;
int waypoint_count = displaying_solution_->getWayPointCount();
int previous_state = current_state_;
// for an empty trajectory, show the start and end state at least
int waypoint_count = displaying_solution_->getWayPointCount();
int max_state_index = std::max<int>(1, waypoint_count);
if (slider_panel_ && slider_panel_->isVisible()) {
animating_ = !slider_panel_->isPaused();
if (current_state_ >= 0)
// user can override current_state_ at any time with slider
current_state_ = slider_panel_->getSliderPosition();
} else if (current_state_ < max_state_index)
animating_ = true; // auto-activate animation if slider_panel_ is hidden
QString msg = "no change";
if (animating_ && current_state_ == previous_state) {
// auto-advance current_state_ based on time progress
current_state_time_ += wall_dt;
float tm = getStateDisplayTime();
if (slider_panel_ && slider_panel_->isVisible() && slider_panel_->isPaused())
current_state_ = slider_panel_->getSliderPosition();
else if (current_state_ < 0) { // special case indicating restart of animation
if (current_state_ < 0) { // special case indicating restart of animation
current_state_ = 0;
current_state_time_ = 0.0;
trail_scene_node_->setVisible(false);
msg = "restart";
} else if (tm < 0.0) { // using realtime: skip to next waypoint based on elapsed display time
while (current_state_ < waypoint_count &&
while (current_state_ < max_state_index &&
(tm = displaying_solution_->getWayPointDurationFromPrevious(current_state_ + 1)) < current_state_time_) {
current_state_time_ -= tm;
++current_state_;
current_state_time_ -= tm;
}
} else if (current_state_time_ > tm) { // fixed display time per state
++current_state_;
current_state_time_ = 0.0;
++current_state_;
}
if (current_state_ == previous_state)
return;
if (current_state_ < waypoint_count)
{
renderWayPoint(current_state_, previous_state);
int stepsize = trail_step_size_property_->getInt();
for (int i = std::max(0, previous_state / stepsize),
end = std::min(current_state_ / stepsize, ((int)trail_.size()) - 1); i <= end; ++i)
trail_[i]->setVisible(true);
}
else
{
animating_ = false; // animation finished
if (!loop_display_property_->getBool() && slider_panel_)
slider_panel_->pauseButton(true);
// ensure to render end state
renderWayPoint(waypoint_count, previous_state);
msg = "progress";
}
} else if (current_state_ != previous_state) { // current_state_ changed from slider
current_state_time_ = 0.0;
msg = "slider";
}
if ((waypoint_count > 0 && current_state_ >= max_state_index) ||
(waypoint_count == 0 && current_state_ > max_state_index)) { // animation finished?
if (loop_display_property_->getBool())
current_state_ = -1; // restart in next cycle
else {
current_state_ = max_state_index;
if (slider_panel_)
slider_panel_->pauseButton(true);
}
setVisibility();
return;
}
if (current_state_ == previous_state)
return;
renderWayPoint(current_state_, previous_state);
// show / hide trail between start .. end
int stepsize = trail_step_size_property_->getInt();
int start = std::max(0, previous_state / stepsize);
int end = current_state_ / stepsize;
bool show = start <= end;
if (!show) std::swap(start, end);
end = std::min<int>(end, trail_.size());
for (; start < end; ++start) trail_[start]->setVisible(show);
setVisibility();
}
void TaskSolutionVisualization::renderWayPoint(size_t index, int previous_index)
{
assert(index >= 0);
size_t waypoint_count = displaying_solution_->getWayPointCount();
moveit::core::RobotStateConstPtr robot_state;
planning_scene::PlanningSceneConstPtr scene;
if (index == displaying_solution_->getWayPointCount()) {
// render last state
scene = displaying_solution_->scene(index);
renderPlanningScene (scene);
robot_state.reset(new moveit::core::RobotState(scene->getCurrentState()));
if (index+1 >= waypoint_count) {
if (index == 0 && waypoint_count == 0)
// special case: render start scene
scene = displaying_solution_->startScene();
else // render end state
scene = displaying_solution_->scene(waypoint_count);
renderPlanningScene (scene);
robot_state.reset(new moveit::core::RobotState(scene->getCurrentState()));
} else {
auto idx_pair = displaying_solution_->indexPair(index);
scene = displaying_solution_->scene(idx_pair);
if (previous_index < 0 ||
if (previous_index < 0 || previous_index >= (int)waypoint_count ||
displaying_solution_->indexPair(previous_index).first != idx_pair.first) {
// switch to new stage: show new planning scene
renderPlanningScene (scene);
@ -532,7 +551,7 @@ void TaskSolutionVisualization::showTrajectory(const DisplaySolutionPtr& s, bool
{
if (lock_display || !s->empty()) {
boost::mutex::scoped_lock lock(display_solution_mutex_);
solution_to_display_ = s;
next_solution_to_display_ = s;
if (lock_display)
locked_ = drop_displaying_solution_ = true;
else if (interrupt_display_property_->getBool())