Cleanup planning request adapter interface #2266
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| Original file line number | Diff line number | Diff line change |
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| add_executable(moveit_list_planning_adapter_plugins src/list_planning_adapter_plugins.cpp) | ||
| ament_target_dependencies(moveit_list_planning_adapter_plugins | ||
| Boost | ||
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| moveit_core | ||
| rclcpp | ||
| pluginlib | ||
| ) | ||
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| install(TARGETS moveit_list_planning_adapter_plugins | ||
| DESTINATION lib/${PROJECT_NAME} | ||
| ) | ||
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,44 @@ | ||
| default_plan_request_adapter_parameters: | ||
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| path_tolerance: { | ||
| type: double, | ||
| description: "AddTimeOptimalParameterization: Tolerance per joint in which the time parameterization is allowed to deviate from the original path.", | ||
| default_value: 0.1, | ||
| } | ||
| resample_dt: { | ||
| type: double, | ||
| description: "AddTimeOptimalParameterization: Time steps between two waypoints of the parameterized trajectory. The trajectory is re-sampled from the original path.", | ||
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| default_value: 0.1, | ||
| } | ||
| min_angle_change: { | ||
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| type: double, | ||
| description: "AddTimeOptimalParameterization: Minimum joint value change to consider two waypoints unique.", | ||
| default_value: 0.001, | ||
| } | ||
| start_state_max_dt: { | ||
| type: double, | ||
| description: "FixStartStateCollision/FixStartStateBounds: Maximum temporal distance of the fixed start state from the original state.", | ||
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There was a problem hiding this comment. How is this temporal distance computed? As a user, it's now clear to me how to set this parameter because there is no context about how the trajectory to the fixed start state from the original state is derived. There was a problem hiding this comment. It is not computed but heuristically chosen: // heuristically decide a duration offset for the trajectory (induced by the additional point added as a
// prefix to the computed trajectory)
res.trajectory->setWayPointDurationFromPrevious(0, std::min(params.start_state_max_dt,
res.trajectory->getAverageSegmentDuration()));Looking at this it might be worth creating a follow-up PR to change this to something that respects the joint limits & take spatial distance into account 🤔 There was a problem hiding this comment. Ok, maybe there is more than the parameter description lets on but it probably belongs in a follow-up. |
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| default_value: 0.5, | ||
| } | ||
| jiggle_fraction: { | ||
| type: double, | ||
| description: "FixStartStateCollision: Joint value perturbation as a percentage of the total range of motion for the joint.", | ||
| default_value: 0.02, | ||
| } | ||
| max_sampling_attempts: { | ||
| type: int, | ||
| description: "FixStartStateCollision: Maximum number of attempts to re-sample a valid start state.", | ||
| default_value: 100, | ||
| validation: { | ||
| bounds<>: [0, 255] | ||
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There was a problem hiding this comment. Why the upper bound here? Maybe I want to sample all day... 😄 There was a problem hiding this comment. Good point, I've updated that. There was a problem hiding this comment. in that case, does the adapter take care of timeouts? If not, unlimited sampling wouldn't be too useful |
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| } | ||
| } | ||
| start_state_max_bounds_error: { | ||
| type: double, | ||
| description: "FixStartStateBounds: Maximum allowable error outside joint bounds for the starting configuration.", | ||
| default_value: 0.05, | ||
| } | ||
| default_workspace_bounds: { | ||
| type: double, | ||
| description: "FixWorkspaceBounds: Default workspace bounds representing a cube around the robot's origin whose edge length this parameter defines.", | ||
| default_value: 10.0, | ||
| } | ||
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This pattern of passing the default
std::vector<std::size_t>& added_path_index = EMPTY_PATH_INDEX_VECTORisn't making sense to me. It is an out-parameter? If the user doesn't pass their own, does it not mutate the globalEMPTY_PATH_INDEX_VECTOR, which surely is not the intent?There was a problem hiding this comment.
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Also note that clang-tidy CI is complaining about the naming of this and failing.
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My intend with this was to remove these functions:
As far as I understand there are no optional references, so like before we just write the path indices to a memory location we never read and dump them that way. Maybe another possible implementation would be to change this interface to use a pointer but that would be a bigger change. Do you have a smarter idea of how to do this?
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can't you just use
std::vector<std::size_t>& added_path_index = {}?There was a problem hiding this comment.
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@henningkayser C++ won't let you assign a default reference like that.
@sjahr I guess this pattern will technically work as long as
adaptAndPlanmakes sure to clear the "empty" vector before it starts every time. Otherwise it's a memory leak!There was a problem hiding this comment.
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oh of course not... content-wise, this parameter would fit into the MotionPlanResponse as well, or at least the detailed response. I wouldn't sweat it too much since we should take another close look at this interface anyway.