Propagate errors from planners to solution comment (#525)

This commit is contained in:
Abishalini 2024-01-16 01:06:47 -07:00 committed by Robert Haschke
parent 0827a0d260
commit e09fecd71f
12 changed files with 161 additions and 110 deletions

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@ -63,11 +63,11 @@ public:
void init(const moveit::core::RobotModelConstPtr& robot_model) override; void init(const moveit::core::RobotModelConstPtr& robot_model) override;
bool plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to, Result plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
const moveit::core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result, const moveit::core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override; const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
bool plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link, Result plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg, const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg,
double timeout, robot_trajectory::RobotTrajectoryPtr& result, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override; const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;

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@ -58,14 +58,14 @@ public:
void init(const moveit::core::RobotModelConstPtr& robot_model) override; void init(const moveit::core::RobotModelConstPtr& robot_model) override;
bool plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to, Result plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
const core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result, const core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override; const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
bool plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link, Result plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg, const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target,
double timeout, robot_trajectory::RobotTrajectoryPtr& result, const moveit::core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override; const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
}; };
} // namespace solvers } // namespace solvers
} // namespace task_constructor } // namespace task_constructor

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@ -63,14 +63,14 @@ public:
void init(const moveit::core::RobotModelConstPtr& robot_model) override; void init(const moveit::core::RobotModelConstPtr& robot_model) override;
bool plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to, Result plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
const moveit::core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result, const moveit::core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override; const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
bool plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link, Result plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg, const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target,
double timeout, robot_trajectory::RobotTrajectoryPtr& result, const moveit::core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override; const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
}; };
} // namespace solvers } // namespace solvers
} // namespace task_constructor } // namespace task_constructor

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@ -39,6 +39,7 @@
#pragma once #pragma once
#include <moveit/task_constructor/solvers/planner_interface.h> #include <moveit/task_constructor/solvers/planner_interface.h>
#include <moveit_msgs/MotionPlanRequest.h>
#include <moveit/macros/class_forward.h> #include <moveit/macros/class_forward.h>
namespace planning_pipeline { namespace planning_pipeline {
@ -79,16 +80,19 @@ public:
void init(const moveit::core::RobotModelConstPtr& robot_model) override; void init(const moveit::core::RobotModelConstPtr& robot_model) override;
bool plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to, Result plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
const core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result, const core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override; const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
bool plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link, Result plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg, const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target,
double timeout, robot_trajectory::RobotTrajectoryPtr& result, const moveit::core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override; const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
protected: protected:
Result plan(const planning_scene::PlanningSceneConstPtr& from, const moveit_msgs::MotionPlanRequest& req,
robot_trajectory::RobotTrajectoryPtr& result);
std::string pipeline_name_; std::string pipeline_name_;
planning_pipeline::PlanningPipelinePtr planner_; planning_pipeline::PlanningPipelinePtr planner_;
}; };

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@ -71,6 +71,14 @@ class PlannerInterface
PropertyMap properties_; PropertyMap properties_;
public: public:
struct Result
{
bool success;
std::string message;
operator bool() const { return success; }
};
PlannerInterface(); PlannerInterface();
virtual ~PlannerInterface() {} virtual ~PlannerInterface() {}
@ -88,17 +96,17 @@ public:
virtual void init(const moveit::core::RobotModelConstPtr& robot_model) = 0; virtual void init(const moveit::core::RobotModelConstPtr& robot_model) = 0;
/// plan trajectory between to robot states /// plan trajectory between to robot states
virtual bool plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to, virtual Result plan(const planning_scene::PlanningSceneConstPtr& from,
const moveit::core::JointModelGroup* jmg, double timeout, const planning_scene::PlanningSceneConstPtr& to, const moveit::core::JointModelGroup* jmg,
robot_trajectory::RobotTrajectoryPtr& result, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) = 0; const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) = 0;
/// plan trajectory from current robot state to Cartesian target, such that pose(link)*offset == target /// plan trajectory from current robot state to Cartesian target, such that pose(link)*offset == target
virtual bool plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link, virtual Result plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target, const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target,
const moveit::core::JointModelGroup* jmg, double timeout, const moveit::core::JointModelGroup* jmg, double timeout,
robot_trajectory::RobotTrajectoryPtr& result, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) = 0; const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) = 0;
}; };
} // namespace solvers } // namespace solvers
} // namespace task_constructor } // namespace task_constructor

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@ -59,26 +59,25 @@ CartesianPath::CartesianPath() {
void CartesianPath::init(const core::RobotModelConstPtr& /*robot_model*/) {} void CartesianPath::init(const core::RobotModelConstPtr& /*robot_model*/) {}
bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr& from, PlannerInterface::Result CartesianPath::plan(const planning_scene::PlanningSceneConstPtr& from,
const planning_scene::PlanningSceneConstPtr& to, const moveit::core::JointModelGroup* jmg, const planning_scene::PlanningSceneConstPtr& to,
double timeout, robot_trajectory::RobotTrajectoryPtr& result, const moveit::core::JointModelGroup* jmg, double timeout,
const moveit_msgs::Constraints& path_constraints) { robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints) {
const moveit::core::LinkModel* link = jmg->getOnlyOneEndEffectorTip(); const moveit::core::LinkModel* link = jmg->getOnlyOneEndEffectorTip();
if (!link) { if (!link)
ROS_WARN_STREAM("no unique tip for joint model group: " << jmg->getName()); return { false, "no unique tip for joint model group: " + jmg->getName() };
return false;
}
// reach pose of forward kinematics // reach pose of forward kinematics
return plan(from, *link, Eigen::Isometry3d::Identity(), to->getCurrentState().getGlobalLinkTransform(link), jmg, return plan(from, *link, Eigen::Isometry3d::Identity(), to->getCurrentState().getGlobalLinkTransform(link), jmg,
std::min(timeout, properties().get<double>("timeout")), result, path_constraints); std::min(timeout, properties().get<double>("timeout")), result, path_constraints);
} }
bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link, PlannerInterface::Result CartesianPath::plan(const planning_scene::PlanningSceneConstPtr& from,
const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target, const moveit::core::LinkModel& link, const Eigen::Isometry3d& offset,
const moveit::core::JointModelGroup* jmg, double /*timeout*/, const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg,
robot_trajectory::RobotTrajectoryPtr& result, double /*timeout*/, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints) { const moveit_msgs::Constraints& path_constraints) {
const auto& props = properties(); const auto& props = properties();
planning_scene::PlanningScenePtr sandbox_scene = from->diff(); planning_scene::PlanningScenePtr sandbox_scene = from->diff();
@ -109,7 +108,10 @@ bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr& from, cons
timing->computeTimeStamps(*result, props.get<double>("max_velocity_scaling_factor"), timing->computeTimeStamps(*result, props.get<double>("max_velocity_scaling_factor"),
props.get<double>("max_acceleration_scaling_factor")); props.get<double>("max_acceleration_scaling_factor"));
return achieved_fraction >= props.get<double>("min_fraction"); if (achieved_fraction < props.get<double>("min_fraction")) {
return { false, "min_fraction not met. Achieved: " + std::to_string(achieved_fraction) };
}
return { true, "achieved fraction: " + std::to_string(achieved_fraction) };
} }
} // namespace solvers } // namespace solvers
} // namespace task_constructor } // namespace task_constructor

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@ -57,11 +57,11 @@ JointInterpolationPlanner::JointInterpolationPlanner() {
void JointInterpolationPlanner::init(const core::RobotModelConstPtr& /*robot_model*/) {} void JointInterpolationPlanner::init(const core::RobotModelConstPtr& /*robot_model*/) {}
bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr& from, PlannerInterface::Result JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
const planning_scene::PlanningSceneConstPtr& to, const planning_scene::PlanningSceneConstPtr& to,
const moveit::core::JointModelGroup* jmg, double /*timeout*/, const moveit::core::JointModelGroup* jmg, double /*timeout*/,
robot_trajectory::RobotTrajectoryPtr& result, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& /*path_constraints*/) { const moveit_msgs::Constraints& /*path_constraints*/) {
const auto& props = properties(); const auto& props = properties();
// Get maximum joint distance // Get maximum joint distance
@ -75,8 +75,11 @@ bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr
// add first point // add first point
result->addSuffixWayPoint(from->getCurrentState(), 0.0); result->addSuffixWayPoint(from->getCurrentState(), 0.0);
if (from->isStateColliding(from_state, jmg->getName()) || !from_state.satisfiesBounds(jmg)) if (from->isStateColliding(from_state, jmg->getName()))
return false; return { false, "Start state is in collision!" };
if (!from_state.satisfiesBounds(jmg))
return { false, "Start state is out of bounds!" };
moveit::core::RobotState waypoint(from_state); moveit::core::RobotState waypoint(from_state);
double delta = d < 1e-6 ? 1.0 : props.get<double>("max_step") / d; double delta = d < 1e-6 ? 1.0 : props.get<double>("max_step") / d;
@ -84,14 +87,20 @@ bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr
from_state.interpolate(to_state, t, waypoint); from_state.interpolate(to_state, t, waypoint);
result->addSuffixWayPoint(waypoint, t); result->addSuffixWayPoint(waypoint, t);
if (from->isStateColliding(waypoint, jmg->getName()) || !waypoint.satisfiesBounds(jmg)) if (from->isStateColliding(waypoint, jmg->getName()))
return false; return { false, "Waypoint is in collision!" };
if (!waypoint.satisfiesBounds(jmg))
return { false, "Waypoint is out of bounds!" };
} }
// add goal point // add goal point
result->addSuffixWayPoint(to_state, 1.0); result->addSuffixWayPoint(to_state, 1.0);
if (from->isStateColliding(to_state, jmg->getName()) || !to_state.satisfiesBounds(jmg)) if (from->isStateColliding(to_state, jmg->getName()))
return false; return { false, "Goal state is in collision!" };
if (!to_state.satisfiesBounds(jmg))
return { false, "Goal state is out of bounds!" };
auto timing = props.get<TimeParameterizationPtr>("time_parameterization"); auto timing = props.get<TimeParameterizationPtr>("time_parameterization");
timing->computeTimeStamps(*result, props.get<double>("max_velocity_scaling_factor"), timing->computeTimeStamps(*result, props.get<double>("max_velocity_scaling_factor"),
@ -111,14 +120,13 @@ bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr
} }
} }
return true; return { true, "" };
} }
bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr& from, PlannerInterface::Result JointInterpolationPlanner::plan(
const moveit::core::LinkModel& link, const Eigen::Isometry3d& offset, const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg, const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg,
double timeout, robot_trajectory::RobotTrajectoryPtr& result, double timeout, robot_trajectory::RobotTrajectoryPtr& result, const moveit_msgs::Constraints& path_constraints) {
const moveit_msgs::Constraints& path_constraints) {
timeout = std::min(timeout, properties().get<double>("timeout")); timeout = std::min(timeout, properties().get<double>("timeout"));
const auto deadline = std::chrono::steady_clock::now() + std::chrono::duration<double, std::ratio<1>>(timeout); const auto deadline = std::chrono::steady_clock::now() + std::chrono::duration<double, std::ratio<1>>(timeout);
@ -134,16 +142,12 @@ bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr
return to->isStateValid(*robot_state, constraints, jmg->getName()); return to->isStateValid(*robot_state, constraints, jmg->getName());
} }; } };
if (!to->getCurrentStateNonConst().setFromIK(jmg, target * offset.inverse(), link.getName(), timeout, is_valid)) { if (!to->getCurrentStateNonConst().setFromIK(jmg, target * offset.inverse(), link.getName(), timeout, is_valid))
// TODO(v4hn): planners need a way to add feedback to failing plans return { false, "IK failed for pose target." };
// in case of an invalid solution feedback should include unwanted collisions or violated constraints
ROS_WARN_NAMED("JointInterpolationPlanner", "IK failed for pose target");
return false;
}
to->getCurrentStateNonConst().update(); to->getCurrentStateNonConst().update();
if (std::chrono::steady_clock::now() >= deadline) if (std::chrono::steady_clock::now() >= deadline)
return false; return { false, "timeout" };
return plan(from, to, jmg, timeout, result, path_constraints); return plan(from, to, jmg, timeout, result, path_constraints);
} }

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@ -49,49 +49,58 @@ void MultiPlanner::init(const core::RobotModelConstPtr& robot_model) {
p->init(robot_model); p->init(robot_model);
} }
bool MultiPlanner::plan(const planning_scene::PlanningSceneConstPtr& from, PlannerInterface::Result MultiPlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
const planning_scene::PlanningSceneConstPtr& to, const moveit::core::JointModelGroup* jmg, const planning_scene::PlanningSceneConstPtr& to,
double timeout, robot_trajectory::RobotTrajectoryPtr& result, const moveit::core::JointModelGroup* jmg, double timeout,
const moveit_msgs::Constraints& path_constraints) { robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints) {
double remaining_time = std::min(timeout, properties().get<double>("timeout")); double remaining_time = std::min(timeout, properties().get<double>("timeout"));
auto start_time = std::chrono::steady_clock::now(); auto start_time = std::chrono::steady_clock::now();
std::string comment = "No planner specified";
for (const auto& p : *this) { for (const auto& p : *this) {
if (remaining_time < 0) if (remaining_time < 0)
return false; // timeout return { false, "timeout" };
if (result) if (result)
result->clear(); result->clear();
if (p->plan(from, to, jmg, remaining_time, result, path_constraints)) auto r = p->plan(from, to, jmg, remaining_time, result, path_constraints);
return true; if (r)
return r;
else
comment = r.message;
auto now = std::chrono::steady_clock::now(); auto now = std::chrono::steady_clock::now();
remaining_time -= std::chrono::duration<double>(now - start_time).count(); remaining_time -= std::chrono::duration<double>(now - start_time).count();
start_time = now; start_time = now;
} }
return false; return { false, comment };
} }
bool MultiPlanner::plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link, PlannerInterface::Result MultiPlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target, const moveit::core::LinkModel& link, const Eigen::Isometry3d& offset,
const moveit::core::JointModelGroup* jmg, double timeout, const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg,
robot_trajectory::RobotTrajectoryPtr& result, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints) { const moveit_msgs::Constraints& path_constraints) {
double remaining_time = std::min(timeout, properties().get<double>("timeout")); double remaining_time = std::min(timeout, properties().get<double>("timeout"));
auto start_time = std::chrono::steady_clock::now(); auto start_time = std::chrono::steady_clock::now();
std::string comment = "No planner specified";
for (const auto& p : *this) { for (const auto& p : *this) {
if (remaining_time < 0) if (remaining_time < 0)
return false; // timeout return { false, "timeout" };
if (result) if (result)
result->clear(); result->clear();
if (p->plan(from, link, offset, target, jmg, remaining_time, result, path_constraints)) auto r = p->plan(from, link, offset, target, jmg, remaining_time, result, path_constraints);
return true; if (r)
return r;
else
comment = r.message;
auto now = std::chrono::steady_clock::now(); auto now = std::chrono::steady_clock::now();
remaining_time -= std::chrono::duration<double>(now - start_time).count(); remaining_time -= std::chrono::duration<double>(now - start_time).count();
start_time = now; start_time = now;
} }
return false; return { false, comment };
} }
} // namespace solvers } // namespace solvers
} // namespace task_constructor } // namespace task_constructor

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@ -152,10 +152,11 @@ void initMotionPlanRequest(moveit_msgs::MotionPlanRequest& req, const PropertyMa
req.workspace_parameters = p.get<moveit_msgs::WorkspaceParameters>("workspace_parameters"); req.workspace_parameters = p.get<moveit_msgs::WorkspaceParameters>("workspace_parameters");
} }
bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from, PlannerInterface::Result PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
const planning_scene::PlanningSceneConstPtr& to, const moveit::core::JointModelGroup* jmg, const planning_scene::PlanningSceneConstPtr& to,
double timeout, robot_trajectory::RobotTrajectoryPtr& result, const moveit::core::JointModelGroup* jmg, double timeout,
const moveit_msgs::Constraints& path_constraints) { robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints) {
const auto& props = properties(); const auto& props = properties();
moveit_msgs::MotionPlanRequest req; moveit_msgs::MotionPlanRequest req;
initMotionPlanRequest(req, props, jmg, timeout); initMotionPlanRequest(req, props, jmg, timeout);
@ -165,17 +166,15 @@ bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
props.get<double>("goal_joint_tolerance")); props.get<double>("goal_joint_tolerance"));
req.path_constraints = path_constraints; req.path_constraints = path_constraints;
::planning_interface::MotionPlanResponse res; return plan(from, req, result);
bool success = planner_->generatePlan(from, req, res);
result = res.trajectory_;
return success;
} }
bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link, PlannerInterface::Result PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target_eigen, const moveit::core::LinkModel& link, const Eigen::Isometry3d& offset,
const moveit::core::JointModelGroup* jmg, double timeout, const Eigen::Isometry3d& target_eigen,
robot_trajectory::RobotTrajectoryPtr& result, const moveit::core::JointModelGroup* jmg, double timeout,
const moveit_msgs::Constraints& path_constraints) { robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints) {
const auto& props = properties(); const auto& props = properties();
moveit_msgs::MotionPlanRequest req; moveit_msgs::MotionPlanRequest req;
initMotionPlanRequest(req, props, jmg, timeout); initMotionPlanRequest(req, props, jmg, timeout);
@ -190,11 +189,18 @@ bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from, co
props.get<double>("goal_orientation_tolerance")); props.get<double>("goal_orientation_tolerance"));
req.path_constraints = path_constraints; req.path_constraints = path_constraints;
return plan(from, req, result);
}
PlannerInterface::Result PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
const moveit_msgs::MotionPlanRequest& req,
robot_trajectory::RobotTrajectoryPtr& result) {
::planning_interface::MotionPlanResponse res; ::planning_interface::MotionPlanResponse res;
bool success = planner_->generatePlan(from, req, res); bool success = planner_->generatePlan(from, req, res);
result = res.trajectory_; result = res.trajectory_;
return success; return { success, success ? std::string() : static_cast<std::string>(res.error_code_) };
} }
} // namespace solvers } // namespace solvers
} // namespace task_constructor } // namespace task_constructor
} // namespace moveit } // namespace moveit

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@ -148,7 +148,7 @@ void Connect::compute(const InterfaceState& from, const InterfaceState& to) {
intermediate_scenes.push_back(start); intermediate_scenes.push_back(start);
bool success = false; bool success = false;
std::string comment; std::string comment = "No planners specified";
std::vector<double> positions; std::vector<double> positions;
for (const GroupPlannerVector::value_type& pair : planner_) { for (const GroupPlannerVector::value_type& pair : planner_) {
// set intermediate goal state // set intermediate goal state
@ -161,11 +161,14 @@ void Connect::compute(const InterfaceState& from, const InterfaceState& to) {
intermediate_scenes.push_back(end); intermediate_scenes.push_back(end);
robot_trajectory::RobotTrajectoryPtr trajectory; robot_trajectory::RobotTrajectoryPtr trajectory;
success = pair.second->plan(start, end, jmg, timeout, trajectory, path_constraints); auto result = pair.second->plan(start, end, jmg, timeout, trajectory, path_constraints);
success = bool(result);
sub_trajectories.push_back(trajectory); // include failed trajectory sub_trajectories.push_back(trajectory); // include failed trajectory
if (!success) if (!success) {
comment = result.message;
break; break;
}
if (trajectory->getLastWayPoint().distance(goal_state, jmg) > max_distance) { if (trajectory->getLastWayPoint().distance(goal_state, jmg) > max_distance) {
success = false; success = false;

View File

@ -189,10 +189,14 @@ bool MoveRelative::compute(const InterfaceState& state, planning_scene::Planning
robot_trajectory::RobotTrajectoryPtr robot_trajectory; robot_trajectory::RobotTrajectoryPtr robot_trajectory;
bool success = false; bool success = false;
std::string comment = "";
if (getJointStateFromOffset(direction, dir, jmg, scene->getCurrentStateNonConst())) { if (getJointStateFromOffset(direction, dir, jmg, scene->getCurrentStateNonConst())) {
// plan to joint-space target // plan to joint-space target
success = planner_->plan(state.scene(), scene, jmg, timeout, robot_trajectory, path_constraints); auto result = planner_->plan(state.scene(), scene, jmg, timeout, robot_trajectory, path_constraints);
success = bool(result);
if (!success)
comment = result.message;
} else { } else {
// Cartesian targets require an IK reference frame // Cartesian targets require an IK reference frame
const moveit::core::LinkModel* link; const moveit::core::LinkModel* link;
@ -278,8 +282,11 @@ bool MoveRelative::compute(const InterfaceState& state, planning_scene::Planning
// offset from link to ik_frame // offset from link to ik_frame
const Eigen::Isometry3d& offset = scene->getCurrentState().getGlobalLinkTransform(link).inverse() * ik_pose_world; const Eigen::Isometry3d& offset = scene->getCurrentState().getGlobalLinkTransform(link).inverse() * ik_pose_world;
success = auto result =
planner_->plan(state.scene(), *link, offset, target_eigen, jmg, timeout, robot_trajectory, path_constraints); planner_->plan(state.scene(), *link, offset, target_eigen, jmg, timeout, robot_trajectory, path_constraints);
success = bool(result);
if (!success)
comment = result.message;
if (robot_trajectory) { // the following requires a robot_trajectory returned from planning if (robot_trajectory) { // the following requires a robot_trajectory returned from planning
moveit::core::RobotStatePtr& reached_state = robot_trajectory->getLastWayPointPtr(); moveit::core::RobotStatePtr& reached_state = robot_trajectory->getLastWayPointPtr();
@ -323,7 +330,7 @@ bool MoveRelative::compute(const InterfaceState& state, planning_scene::Planning
solution.setTrajectory(robot_trajectory); solution.setTrajectory(robot_trajectory);
if (!success) if (!success)
solution.markAsFailure(); solution.markAsFailure(comment);
return true; return true;
} }
return false; return false;

View File

@ -197,10 +197,14 @@ bool MoveTo::compute(const InterfaceState& state, planning_scene::PlanningSceneP
const auto& path_constraints = props.get<moveit_msgs::Constraints>("path_constraints"); const auto& path_constraints = props.get<moveit_msgs::Constraints>("path_constraints");
robot_trajectory::RobotTrajectoryPtr robot_trajectory; robot_trajectory::RobotTrajectoryPtr robot_trajectory;
bool success = false; bool success = false;
std::string comment = "";
if (getJointStateGoal(goal, jmg, scene->getCurrentStateNonConst())) { if (getJointStateGoal(goal, jmg, scene->getCurrentStateNonConst())) {
// plan to joint-space target // plan to joint-space target
success = planner_->plan(state.scene(), scene, jmg, timeout, robot_trajectory, path_constraints); auto result = planner_->plan(state.scene(), scene, jmg, timeout, robot_trajectory, path_constraints);
success = bool(result);
if (!success)
comment = result.message;
} else { // Cartesian goal } else { // Cartesian goal
// Where to go? // Where to go?
Eigen::Isometry3d target; Eigen::Isometry3d target;
@ -232,7 +236,11 @@ bool MoveTo::compute(const InterfaceState& state, planning_scene::PlanningSceneP
Eigen::Isometry3d offset = scene->getCurrentState().getGlobalLinkTransform(link).inverse() * ik_pose_world; Eigen::Isometry3d offset = scene->getCurrentState().getGlobalLinkTransform(link).inverse() * ik_pose_world;
// plan to Cartesian target // plan to Cartesian target
success = planner_->plan(state.scene(), *link, offset, target, jmg, timeout, robot_trajectory, path_constraints); const auto result =
planner_->plan(state.scene(), *link, offset, target, jmg, timeout, robot_trajectory, path_constraints);
success = bool(result);
if (!success)
comment = result.message;
} }
// store result // store result
@ -248,7 +256,7 @@ bool MoveTo::compute(const InterfaceState& state, planning_scene::PlanningSceneP
solution.setTrajectory(robot_trajectory); solution.setTrajectory(robot_trajectory);
if (!success) if (!success)
solution.markAsFailure(); solution.markAsFailure(comment);
return true; return true;
} }