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https://github.com/moveit/moveit_task_constructor.git
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Propagate errors from planners to solution comment (#525)
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0827a0d260
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@ -63,11 +63,11 @@ public:
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void init(const moveit::core::RobotModelConstPtr& robot_model) override;
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bool plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
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Result plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
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const moveit::core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
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bool plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
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Result plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
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const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg,
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double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
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@ -58,14 +58,14 @@ public:
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void init(const moveit::core::RobotModelConstPtr& robot_model) override;
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bool plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
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const core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
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Result plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
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const core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
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bool plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
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const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg,
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double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
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Result plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
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const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target,
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const moveit::core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
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};
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} // namespace solvers
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} // namespace task_constructor
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@ -63,14 +63,14 @@ public:
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void init(const moveit::core::RobotModelConstPtr& robot_model) override;
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bool plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
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const moveit::core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
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Result plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
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const moveit::core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
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bool plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
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const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg,
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double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
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Result plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
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const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target,
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const moveit::core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
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};
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} // namespace solvers
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} // namespace task_constructor
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@ -39,6 +39,7 @@
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#pragma once
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#include <moveit/task_constructor/solvers/planner_interface.h>
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#include <moveit_msgs/MotionPlanRequest.h>
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#include <moveit/macros/class_forward.h>
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namespace planning_pipeline {
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@ -79,16 +80,19 @@ public:
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void init(const moveit::core::RobotModelConstPtr& robot_model) override;
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bool plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
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const core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
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Result plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
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const core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
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bool plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
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const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg,
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double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
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Result plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
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const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target,
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const moveit::core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
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protected:
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Result plan(const planning_scene::PlanningSceneConstPtr& from, const moveit_msgs::MotionPlanRequest& req,
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robot_trajectory::RobotTrajectoryPtr& result);
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std::string pipeline_name_;
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planning_pipeline::PlanningPipelinePtr planner_;
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};
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@ -71,6 +71,14 @@ class PlannerInterface
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PropertyMap properties_;
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public:
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struct Result
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{
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bool success;
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std::string message;
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operator bool() const { return success; }
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};
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PlannerInterface();
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virtual ~PlannerInterface() {}
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@ -88,17 +96,17 @@ public:
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virtual void init(const moveit::core::RobotModelConstPtr& robot_model) = 0;
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/// plan trajectory between to robot states
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virtual bool plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
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const moveit::core::JointModelGroup* jmg, double timeout,
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robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) = 0;
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virtual Result plan(const planning_scene::PlanningSceneConstPtr& from,
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const planning_scene::PlanningSceneConstPtr& to, const moveit::core::JointModelGroup* jmg,
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double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) = 0;
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/// plan trajectory from current robot state to Cartesian target, such that pose(link)*offset == target
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virtual bool plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
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const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target,
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const moveit::core::JointModelGroup* jmg, double timeout,
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robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) = 0;
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virtual Result plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
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const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target,
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const moveit::core::JointModelGroup* jmg, double timeout,
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robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) = 0;
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};
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} // namespace solvers
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} // namespace task_constructor
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@ -59,26 +59,25 @@ CartesianPath::CartesianPath() {
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void CartesianPath::init(const core::RobotModelConstPtr& /*robot_model*/) {}
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bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr& from,
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const planning_scene::PlanningSceneConstPtr& to, const moveit::core::JointModelGroup* jmg,
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double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints) {
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PlannerInterface::Result CartesianPath::plan(const planning_scene::PlanningSceneConstPtr& from,
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const planning_scene::PlanningSceneConstPtr& to,
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const moveit::core::JointModelGroup* jmg, double timeout,
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robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints) {
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const moveit::core::LinkModel* link = jmg->getOnlyOneEndEffectorTip();
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if (!link) {
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ROS_WARN_STREAM("no unique tip for joint model group: " << jmg->getName());
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return false;
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}
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if (!link)
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return { false, "no unique tip for joint model group: " + jmg->getName() };
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// reach pose of forward kinematics
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return plan(from, *link, Eigen::Isometry3d::Identity(), to->getCurrentState().getGlobalLinkTransform(link), jmg,
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std::min(timeout, properties().get<double>("timeout")), result, path_constraints);
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}
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bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
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const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target,
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const moveit::core::JointModelGroup* jmg, double /*timeout*/,
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robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints) {
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PlannerInterface::Result CartesianPath::plan(const planning_scene::PlanningSceneConstPtr& from,
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const moveit::core::LinkModel& link, const Eigen::Isometry3d& offset,
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const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg,
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double /*timeout*/, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints) {
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const auto& props = properties();
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planning_scene::PlanningScenePtr sandbox_scene = from->diff();
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@ -109,7 +108,10 @@ bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr& from, cons
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timing->computeTimeStamps(*result, props.get<double>("max_velocity_scaling_factor"),
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props.get<double>("max_acceleration_scaling_factor"));
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return achieved_fraction >= props.get<double>("min_fraction");
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if (achieved_fraction < props.get<double>("min_fraction")) {
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return { false, "min_fraction not met. Achieved: " + std::to_string(achieved_fraction) };
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}
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return { true, "achieved fraction: " + std::to_string(achieved_fraction) };
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}
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} // namespace solvers
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} // namespace task_constructor
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@ -57,11 +57,11 @@ JointInterpolationPlanner::JointInterpolationPlanner() {
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void JointInterpolationPlanner::init(const core::RobotModelConstPtr& /*robot_model*/) {}
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bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
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const planning_scene::PlanningSceneConstPtr& to,
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const moveit::core::JointModelGroup* jmg, double /*timeout*/,
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robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& /*path_constraints*/) {
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PlannerInterface::Result JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
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const planning_scene::PlanningSceneConstPtr& to,
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const moveit::core::JointModelGroup* jmg, double /*timeout*/,
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robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& /*path_constraints*/) {
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const auto& props = properties();
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// Get maximum joint distance
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@ -75,8 +75,11 @@ bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr
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// add first point
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result->addSuffixWayPoint(from->getCurrentState(), 0.0);
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if (from->isStateColliding(from_state, jmg->getName()) || !from_state.satisfiesBounds(jmg))
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return false;
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if (from->isStateColliding(from_state, jmg->getName()))
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return { false, "Start state is in collision!" };
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if (!from_state.satisfiesBounds(jmg))
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return { false, "Start state is out of bounds!" };
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moveit::core::RobotState waypoint(from_state);
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double delta = d < 1e-6 ? 1.0 : props.get<double>("max_step") / d;
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@ -84,14 +87,20 @@ bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr
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from_state.interpolate(to_state, t, waypoint);
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result->addSuffixWayPoint(waypoint, t);
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if (from->isStateColliding(waypoint, jmg->getName()) || !waypoint.satisfiesBounds(jmg))
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return false;
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if (from->isStateColliding(waypoint, jmg->getName()))
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return { false, "Waypoint is in collision!" };
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if (!waypoint.satisfiesBounds(jmg))
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return { false, "Waypoint is out of bounds!" };
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}
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// add goal point
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result->addSuffixWayPoint(to_state, 1.0);
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if (from->isStateColliding(to_state, jmg->getName()) || !to_state.satisfiesBounds(jmg))
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return false;
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if (from->isStateColliding(to_state, jmg->getName()))
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return { false, "Goal state is in collision!" };
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if (!to_state.satisfiesBounds(jmg))
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return { false, "Goal state is out of bounds!" };
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auto timing = props.get<TimeParameterizationPtr>("time_parameterization");
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timing->computeTimeStamps(*result, props.get<double>("max_velocity_scaling_factor"),
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@ -111,14 +120,13 @@ bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr
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}
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}
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return true;
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return { true, "" };
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}
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bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
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const moveit::core::LinkModel& link, const Eigen::Isometry3d& offset,
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const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg,
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double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints) {
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PlannerInterface::Result JointInterpolationPlanner::plan(
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const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
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const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg,
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double timeout, robot_trajectory::RobotTrajectoryPtr& result, const moveit_msgs::Constraints& path_constraints) {
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timeout = std::min(timeout, properties().get<double>("timeout"));
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const auto deadline = std::chrono::steady_clock::now() + std::chrono::duration<double, std::ratio<1>>(timeout);
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@ -134,16 +142,12 @@ bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr
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return to->isStateValid(*robot_state, constraints, jmg->getName());
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} };
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if (!to->getCurrentStateNonConst().setFromIK(jmg, target * offset.inverse(), link.getName(), timeout, is_valid)) {
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// TODO(v4hn): planners need a way to add feedback to failing plans
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// in case of an invalid solution feedback should include unwanted collisions or violated constraints
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ROS_WARN_NAMED("JointInterpolationPlanner", "IK failed for pose target");
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return false;
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}
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if (!to->getCurrentStateNonConst().setFromIK(jmg, target * offset.inverse(), link.getName(), timeout, is_valid))
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return { false, "IK failed for pose target." };
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to->getCurrentStateNonConst().update();
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if (std::chrono::steady_clock::now() >= deadline)
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return false;
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return { false, "timeout" };
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return plan(from, to, jmg, timeout, result, path_constraints);
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}
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@ -49,49 +49,58 @@ void MultiPlanner::init(const core::RobotModelConstPtr& robot_model) {
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p->init(robot_model);
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}
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bool MultiPlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
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const planning_scene::PlanningSceneConstPtr& to, const moveit::core::JointModelGroup* jmg,
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double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints) {
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PlannerInterface::Result MultiPlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
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const planning_scene::PlanningSceneConstPtr& to,
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const moveit::core::JointModelGroup* jmg, double timeout,
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robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints) {
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double remaining_time = std::min(timeout, properties().get<double>("timeout"));
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auto start_time = std::chrono::steady_clock::now();
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std::string comment = "No planner specified";
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for (const auto& p : *this) {
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if (remaining_time < 0)
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return false; // timeout
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return { false, "timeout" };
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if (result)
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result->clear();
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if (p->plan(from, to, jmg, remaining_time, result, path_constraints))
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return true;
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auto r = p->plan(from, to, jmg, remaining_time, result, path_constraints);
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if (r)
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return r;
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else
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comment = r.message;
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auto now = std::chrono::steady_clock::now();
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remaining_time -= std::chrono::duration<double>(now - start_time).count();
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start_time = now;
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}
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return false;
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return { false, comment };
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}
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bool MultiPlanner::plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
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const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target,
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const moveit::core::JointModelGroup* jmg, double timeout,
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robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints) {
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PlannerInterface::Result MultiPlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
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const moveit::core::LinkModel& link, const Eigen::Isometry3d& offset,
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const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg,
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double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints) {
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double remaining_time = std::min(timeout, properties().get<double>("timeout"));
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auto start_time = std::chrono::steady_clock::now();
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std::string comment = "No planner specified";
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for (const auto& p : *this) {
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if (remaining_time < 0)
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return false; // timeout
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return { false, "timeout" };
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if (result)
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result->clear();
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if (p->plan(from, link, offset, target, jmg, remaining_time, result, path_constraints))
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return true;
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auto r = p->plan(from, link, offset, target, jmg, remaining_time, result, path_constraints);
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if (r)
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return r;
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else
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comment = r.message;
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auto now = std::chrono::steady_clock::now();
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remaining_time -= std::chrono::duration<double>(now - start_time).count();
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start_time = now;
|
||||
}
|
||||
return false;
|
||||
return { false, comment };
|
||||
}
|
||||
} // namespace solvers
|
||||
} // namespace task_constructor
|
||||
|
||||
@ -152,10 +152,11 @@ void initMotionPlanRequest(moveit_msgs::MotionPlanRequest& req, const PropertyMa
|
||||
req.workspace_parameters = p.get<moveit_msgs::WorkspaceParameters>("workspace_parameters");
|
||||
}
|
||||
|
||||
bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
|
||||
const planning_scene::PlanningSceneConstPtr& to, const moveit::core::JointModelGroup* jmg,
|
||||
double timeout, robot_trajectory::RobotTrajectoryPtr& result,
|
||||
const moveit_msgs::Constraints& path_constraints) {
|
||||
PlannerInterface::Result PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
|
||||
const planning_scene::PlanningSceneConstPtr& to,
|
||||
const moveit::core::JointModelGroup* jmg, double timeout,
|
||||
robot_trajectory::RobotTrajectoryPtr& result,
|
||||
const moveit_msgs::Constraints& path_constraints) {
|
||||
const auto& props = properties();
|
||||
moveit_msgs::MotionPlanRequest req;
|
||||
initMotionPlanRequest(req, props, jmg, timeout);
|
||||
@ -165,17 +166,15 @@ bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
|
||||
props.get<double>("goal_joint_tolerance"));
|
||||
req.path_constraints = path_constraints;
|
||||
|
||||
::planning_interface::MotionPlanResponse res;
|
||||
bool success = planner_->generatePlan(from, req, res);
|
||||
result = res.trajectory_;
|
||||
return success;
|
||||
return plan(from, req, result);
|
||||
}
|
||||
|
||||
bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
|
||||
const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target_eigen,
|
||||
const moveit::core::JointModelGroup* jmg, double timeout,
|
||||
robot_trajectory::RobotTrajectoryPtr& result,
|
||||
const moveit_msgs::Constraints& path_constraints) {
|
||||
PlannerInterface::Result PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
|
||||
const moveit::core::LinkModel& link, const Eigen::Isometry3d& offset,
|
||||
const Eigen::Isometry3d& target_eigen,
|
||||
const moveit::core::JointModelGroup* jmg, double timeout,
|
||||
robot_trajectory::RobotTrajectoryPtr& result,
|
||||
const moveit_msgs::Constraints& path_constraints) {
|
||||
const auto& props = properties();
|
||||
moveit_msgs::MotionPlanRequest req;
|
||||
initMotionPlanRequest(req, props, jmg, timeout);
|
||||
@ -190,11 +189,18 @@ bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from, co
|
||||
props.get<double>("goal_orientation_tolerance"));
|
||||
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;
|
||||
bool success = planner_->generatePlan(from, req, res);
|
||||
result = res.trajectory_;
|
||||
return success;
|
||||
return { success, success ? std::string() : static_cast<std::string>(res.error_code_) };
|
||||
}
|
||||
|
||||
} // namespace solvers
|
||||
} // namespace task_constructor
|
||||
} // namespace moveit
|
||||
|
||||
@ -148,7 +148,7 @@ void Connect::compute(const InterfaceState& from, const InterfaceState& to) {
|
||||
intermediate_scenes.push_back(start);
|
||||
|
||||
bool success = false;
|
||||
std::string comment;
|
||||
std::string comment = "No planners specified";
|
||||
std::vector<double> positions;
|
||||
for (const GroupPlannerVector::value_type& pair : planner_) {
|
||||
// set intermediate goal state
|
||||
@ -161,11 +161,14 @@ void Connect::compute(const InterfaceState& from, const InterfaceState& to) {
|
||||
intermediate_scenes.push_back(end);
|
||||
|
||||
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
|
||||
|
||||
if (!success)
|
||||
if (!success) {
|
||||
comment = result.message;
|
||||
break;
|
||||
}
|
||||
|
||||
if (trajectory->getLastWayPoint().distance(goal_state, jmg) > max_distance) {
|
||||
success = false;
|
||||
|
||||
@ -189,10 +189,14 @@ bool MoveRelative::compute(const InterfaceState& state, planning_scene::Planning
|
||||
|
||||
robot_trajectory::RobotTrajectoryPtr robot_trajectory;
|
||||
bool success = false;
|
||||
std::string comment = "";
|
||||
|
||||
if (getJointStateFromOffset(direction, dir, jmg, scene->getCurrentStateNonConst())) {
|
||||
// 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 targets require an IK reference frame
|
||||
const moveit::core::LinkModel* link;
|
||||
@ -278,8 +282,11 @@ bool MoveRelative::compute(const InterfaceState& state, planning_scene::Planning
|
||||
// offset from link to ik_frame
|
||||
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);
|
||||
success = bool(result);
|
||||
if (!success)
|
||||
comment = result.message;
|
||||
|
||||
if (robot_trajectory) { // the following requires a robot_trajectory returned from planning
|
||||
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);
|
||||
|
||||
if (!success)
|
||||
solution.markAsFailure();
|
||||
solution.markAsFailure(comment);
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
|
||||
@ -197,10 +197,14 @@ bool MoveTo::compute(const InterfaceState& state, planning_scene::PlanningSceneP
|
||||
const auto& path_constraints = props.get<moveit_msgs::Constraints>("path_constraints");
|
||||
robot_trajectory::RobotTrajectoryPtr robot_trajectory;
|
||||
bool success = false;
|
||||
std::string comment = "";
|
||||
|
||||
if (getJointStateGoal(goal, jmg, scene->getCurrentStateNonConst())) {
|
||||
// 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
|
||||
// Where to go?
|
||||
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;
|
||||
|
||||
// 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
|
||||
@ -248,7 +256,7 @@ bool MoveTo::compute(const InterfaceState& state, planning_scene::PlanningSceneP
|
||||
solution.setTrajectory(robot_trajectory);
|
||||
|
||||
if (!success)
|
||||
solution.markAsFailure();
|
||||
solution.markAsFailure(comment);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user