[Planning Pipeline Refactoring] #1 Simplify Adapter - Planner chain (#…

…2429)

MIGRATION.md

@@ -3,19 +3,39 @@
 API changes in MoveIt releases
 
 ## ROS Rolling
-- `lockSceneRead()` and `lockSceneWrite()` are now protected member functions, for internal use only. To lock the planning scene, use LockedPlanningSceneRO or LockedPlanningSceneRW:
+- [10/2023] Planning request adapters are now separated into PlanRequest (preprocessing) and PlanResponse (postprocessing) adapters. The adapters are configured with ROS parameter vectors (vector order corresponds to execution order). Please update your pipeline configurations for example like this:
+```diff
+- request_adapters: >-
+-     default_planner_request_adapters/AddTimeOptimalParameterization
+-     default_planner_request_adapters/ResolveConstraintFrames
+-     default_planner_request_adapters/FixWorkspaceBounds
+-     default_planner_request_adapters/FixStartStateBounds
+-     default_planner_request_adapters/FixStartStateCollision
+-     default_planner_request_adapters/FixStartStatePathConstraints
++ # The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline.
++ request_adapters:
++   - default_planning_request_adapters/ResolveConstraintFrames
++   - default_planning_request_adapters/ValidateWorkspaceBounds
++   - default_planning_request_adapters/CheckStartStateBounds
++   - default_planning_request_adapters/CheckStartStateCollision
++ response_adapters:
++   - default_planning_response_adapters/AddTimeOptimalParameterization
++   - default_planning_response_adapters/ValidateSolution
++   - default_planning_response_adapters/DisplayMotionPath
+```
+- [2021] `lockSceneRead()` and `lockSceneWrite()` are now protected member functions, for internal use only. To lock the planning scene, use ``LockedPlanningSceneRO`` or ``LockedPlanningSceneRW``:
 ```
       planning_scene_monitor::LockedPlanningSceneRO ls(planning_scene_monitor);
       moveit::core::RobotModelConstPtr model = ls->getRobotModel();
 ```
-- ServoServer was renamed to ServoNode
-- `CollisionObject` messages are now defined with a `Pose`, and shapes and subframes are defined relative to the object's pose. This makes it easier to place objects with subframes and multiple shapes in the scene. This causes several changes:
+- [2021] ServoServer was renamed to ServoNode
+- [2021] `CollisionObject` messages are now defined with a `Pose`, and shapes and subframes are defined relative to the object's pose. This makes it easier to place objects with subframes and multiple shapes in the scene. This causes several changes:
     - `getFrameTransform()` now returns this pose instead of the first shape's pose.
     - The Rviz plugin's manipulation tab now uses the object's pose instead of the shape pose to evaluate if object's are in the region of interest.
     - Planning scene geometry text files (`.scene`) have changed format. Loading old files is still supported. You can add a line `0 0 0 0 0 0 1` under each line with an asterisk to upgrade old files.
-- add API for passing RNG to setToRandomPositionsNearBy
-- Static member variable interface of the CollisionDetectorAllocatorTemplate for the string NAME was replaced with a virtual method `getName`.
-- Enhance `RDFLoader` to load from string parameter OR string topic (and add the ability to publish a string topic).
+- [2021] Add API for passing RNG to setToRandomPositionsNearBy
+- [2021] Static member variable interface of the CollisionDetectorAllocatorTemplate for the string NAME was replaced with a virtual method `getName`.
+- [2021] Enhance `RDFLoader` to load from string parameter OR string topic (and add the ability to publish a string topic).
 
 ## ROS Noetic
 - RobotModel no longer overrides empty URDF collision geometry by matching the visual geometry of the link.

moveit_configs_utils/default_configs/chomp_planning.yaml

@@ -1,12 +1,14 @@
 planning_plugin: chomp_interface/CHOMPPlanner
 enable_failure_recovery: true
-jiggle_fraction: 0.05
-request_adapters: >-
-    default_planner_request_adapters/AddTimeOptimalParameterization
-    default_planner_request_adapters/ResolveConstraintFrames
-    default_planner_request_adapters/FixWorkspaceBounds
-    default_planner_request_adapters/FixStartStateBounds
-    default_planner_request_adapters/FixStartStateCollision
-    default_planner_request_adapters/FixStartStatePathConstraints
+# The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline.
+request_adapters:
+  - default_planning_request_adapters/ResolveConstraintFrames
+  - default_planning_request_adapters/ValidateWorkspaceBounds
+  - default_planning_request_adapters/CheckStartStateBounds
+  - default_planning_request_adapters/CheckStartStateCollision
+response_adapters:
+  - default_planning_response_adapters/AddTimeOptimalParameterization
+  - default_planning_response_adapters/ValidateSolution
+  - default_planning_response_adapters/DisplayMotionPath
+
 ridge_factor: 0.01
-start_state_max_bounds_error: 0.1

moveit_configs_utils/default_configs/ompl_planning.yaml

@@ -1,10 +1,11 @@
 planning_plugin: ompl_interface/OMPLPlanner
-start_state_max_bounds_error: 0.1
-jiggle_fraction: 0.05
-request_adapters: >-
-    default_planner_request_adapters/AddTimeOptimalParameterization
-    default_planner_request_adapters/ResolveConstraintFrames
-    default_planner_request_adapters/FixWorkspaceBounds
-    default_planner_request_adapters/FixStartStateBounds
-    default_planner_request_adapters/FixStartStateCollision
-    default_planner_request_adapters/FixStartStatePathConstraints
+# The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline.
+request_adapters:
+  - default_planning_request_adapters/ResolveConstraintFrames
+  - default_planning_request_adapters/ValidateWorkspaceBounds
+  - default_planning_request_adapters/CheckStartStateBounds
+  - default_planning_request_adapters/CheckStartStateCollision
+response_adapters:
+  - default_planning_response_adapters/AddTimeOptimalParameterization
+  - default_planning_response_adapters/ValidateSolution
+  - default_planning_response_adapters/DisplayMotionPath

moveit_configs_utils/default_configs/pilz_industrial_motion_planner_planning.yaml

@@ -1,5 +1,5 @@
 planning_plugin: pilz_industrial_motion_planner/CommandPlanner
-request_adapters: ""
+# The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline.
 default_planner_config: PTP
 capabilities: >-
     pilz_industrial_motion_planner/MoveGroupSequenceAction

moveit_configs_utils/default_configs/stomp_planning.yaml

@@ -1,11 +1,14 @@
 planning_plugin: stomp_moveit/StompPlanner
-request_adapters: >-
-  default_planner_request_adapters/AddTimeOptimalParameterization
-  default_planner_request_adapters/ResolveConstraintFrames
-  default_planner_request_adapters/FixWorkspaceBounds
-  default_planner_request_adapters/FixStartStateBounds
-  default_planner_request_adapters/FixStartStateCollision
-  default_planner_request_adapters/FixStartStatePathConstraints
+# The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline.
+request_adapters:
+  - default_planning_request_adapters/ResolveConstraintFrames
+  - default_planning_request_adapters/ValidateWorkspaceBounds
+  - default_planning_request_adapters/CheckStartStateBounds
+  - default_planning_request_adapters/CheckStartStateCollision
+response_adapters:
+  - default_planning_response_adapters/AddTimeOptimalParameterization
+  - default_planning_response_adapters/ValidateSolution
+  - default_planning_response_adapters/DisplayMotionPath
 
 stomp_moveit:
   num_timesteps: 60

moveit_core/CMakeLists.txt

@@ -60,7 +60,6 @@ add_subdirectory(kinematics_metrics)
 add_subdirectory(macros)
 add_subdirectory(online_signal_smoothing)
 add_subdirectory(planning_interface)
-add_subdirectory(planning_request_adapter)
 add_subdirectory(planning_scene)
 add_subdirectory(robot_model)
 add_subdirectory(robot_state)
@@ -116,7 +115,6 @@ install(
     moveit_kinematics_metrics
     moveit_macros
     moveit_planning_interface
-    moveit_planning_request_adapter
     moveit_planning_scene
     moveit_robot_model
     moveit_robot_state

moveit_core/planning_interface/CMakeLists.txt

@@ -16,6 +16,7 @@ ament_target_dependencies(moveit_planning_interface
 target_link_libraries(moveit_planning_interface
   moveit_robot_trajectory
   moveit_robot_state
+  moveit_planning_scene
   moveit_utils
 )
 

moveit_core/planning_interface/include/moveit/planning_interface/planning_interface.h

@@ -39,16 +39,12 @@
 #include <moveit/macros/class_forward.h>
 #include <moveit/planning_interface/planning_request.h>
 #include <moveit/planning_interface/planning_response.h>
+#include <moveit/planning_scene/planning_scene.h>
 #include <rclcpp/node.hpp>
 #include <string>
 #include <map>
 #include <rclcpp/rclcpp.hpp>
 
-namespace planning_scene
-{
-MOVEIT_CLASS_FORWARD(PlanningScene);  // Defines PlanningScenePtr, ConstPtr, WeakPtr... etc
-}
-
 /** \brief This namespace includes the base class for MoveIt planners */
 namespace planning_interface
 {
@@ -119,11 +115,11 @@ class PlanningContext
 
   /** \brief Solve the motion planning problem and store the result in \e res. This function should not clear data
    * structures before computing. The constructor and clear() do that. */
-  virtual bool solve(MotionPlanResponse& res) = 0;
+  virtual void solve(MotionPlanResponse& res) = 0;
 
   /** \brief Solve the motion planning problem and store the detailed result in \e res. This function should not clear
    * data structures before computing. The constructor and clear() do that. */
-  virtual bool solve(MotionPlanDetailedResponse& res) = 0;
+  virtual void solve(MotionPlanDetailedResponse& res) = 0;
 
   /** \brief If solve() is running, terminate the computation. Return false if termination not possible. No-op if
    * solve() is not running (returns true).*/

moveit_core/planning_interface/include/moveit/planning_interface/planning_request.h

@@ -40,8 +40,8 @@
 
 namespace planning_interface
 {
-// for now this is just a typedef
 
+// for now this is just a typedef
 typedef moveit_msgs::msg::MotionPlanRequest MotionPlanRequest;
 
 }  // namespace planning_interface

moveit_core/planning_interface/include/moveit/planning_interface/planning_request_adapter.h

@@ -0,0 +1,74 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2023, PickNik Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of PickNik Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Ioan Sucan, Sebastian Jahr
+   Description: Generic interface to adapting motion planning requests
+*/
+
+#pragma once
+
+#include <moveit/macros/class_forward.h>
+#include <moveit/planning_interface/planning_interface.h>
+#include <rclcpp/logging.hpp>
+#include <rclcpp/node.hpp>
+
+namespace planning_interface
+{
+MOVEIT_CLASS_FORWARD(PlanningRequestAdapter);  // Defines PlanningRequestAdapterPtr, ConstPtr, WeakPtr... etc
+
+/** @brief Concept in MoveIt which can be used to modify the planning problem(pre-processing) in a planning pipeline.
+ * PlanningRequestAdapters enable adjusting to or validating a planning problem for a subsequent planning algorithm.
+ */
+class PlanningRequestAdapter
+{
+public:
+  /** @brief Initialize parameters using the passed Node and parameter namespace.
+   *  @param node Node instance used by the adapter
+   *  @param parameter_namespace Parameter namespace for adapter
+   *  @details The default implementation is empty */
+  virtual void initialize(const rclcpp::Node::SharedPtr& node, const std::string& parameter_namespace){};
+
+  /** @brief Get a description of this adapter
+   *  @return Returns a short string that identifies the planning request adapter
+   */
+  [[nodiscard]] virtual std::string getDescription() const = 0;
+
+  /** @brief Adapt the planning request
+   *  @param planning_scene Representation of the environment for the planning
+   *  @param req Motion planning request with a set of constraints
+   *  @return True if response was generated correctly */
+  [[nodiscard]] virtual moveit::core::MoveItErrorCode adapt(const planning_scene::PlanningSceneConstPtr& planning_scene,
+                                                            planning_interface::MotionPlanRequest& req) const = 0;
+};
+}  // namespace planning_interface

moveit_core/planning_interface/include/moveit/planning_interface/planning_response.h

@@ -65,11 +65,6 @@ struct MotionPlanResponse
   moveit_msgs::msg::RobotState start_state;
   std::string planner_id;
 
-  /// Sometimes planning request adapters may add states on the solution path (e.g., add the current state of the robot
-  /// as prefix, when the robot started to plan only from near that state, as the current state itself appears to touch
-  /// obstacles). This is helpful because the added states should not be considered invalid in all situations.
-  std::vector<std::size_t> added_path_index;  // This won't be included into the MotionPlanResponse ROS 2 message!
-
   // \brief Enable checking of query success or failure, for example if(response) ...
   explicit operator bool() const
   {

moveit_core/planning_interface/include/moveit/planning_interface/planning_response_adapter.h

@@ -0,0 +1,74 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2023, PickNik Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of PickNik Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Sebastian Jahr */
+
+#pragma once
+
+#include <moveit/macros/class_forward.h>
+#include <moveit/planning_interface/planning_interface.h>
+#include <rclcpp/logging.hpp>
+#include <rclcpp/node.hpp>
+
+namespace planning_interface
+{
+MOVEIT_CLASS_FORWARD(PlanningResponseAdapter);  // Defines PlanningResponseAdapterPtr, ConstPtr, WeakPtr... etc
+
+/** @brief Concept in MoveIt which can be used to modify the planning solution (post-processing) in a planning pipeline.
+ * PlanningResponseAdapters enable using for example smoothing and trajectory generation algorithms in sequence to
+ * produce a trajectory.
+ */
+class PlanningResponseAdapter
+{
+public:
+  /** @brief Initialize parameters using the passed Node and parameter namespace.
+   *  @param node Node instance used by the adapter
+   *  @param parameter_namespace Parameter namespace for adapter
+   *  @details The default implementation is empty */
+  virtual void initialize(const rclcpp::Node::SharedPtr& node, const std::string& parameter_namespace){};
+
+  /** \brief Get a description of this adapter
+   *  @return Returns a short string that identifies the planning response adapter
+   */
+  [[nodiscard]] virtual std::string getDescription() const = 0;
+
+  /** @brief Adapt the planning response
+   *  @param planning_scene Representation of the environment for the planning
+   *  @param req Motion planning request with a set of constraints
+   *  @param res Motion planning response containing the solution that is adapted. */
+  virtual void adapt(const planning_scene::PlanningSceneConstPtr& planning_scene,
+                     const planning_interface::MotionPlanRequest& req,
+                     planning_interface::MotionPlanResponse& res) const = 0;
+};
+}  // namespace planning_interface