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[Servo] Use velocity scaling properly in Cartesian and pose tracking commands #3007

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merged 11 commits into from
Sep 24, 2024
Merged

[Servo] Use velocity scaling properly in Cartesian and pose tracking commands #3007

merged 11 commits into from
Sep 24, 2024

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sea-bass
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@sea-bass sea-bass commented Sep 20, 2024 •
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Description

This PR seeks to apply max linear/angular velocity scaling properly in the Cartesian and pose tracking commands. Specifically:

  • Max linear/angular speeds were not being honored at all in Cartesian mode; they were just used for unitless command scaling
  • Important: In pose tracking mode, even if a pose was far away, no efforts were made to limit the speed at that pose. The Cartesian delta was whatever joint angle difference was computed between the current state and target pose IK solution.
  • Singularity scaling was only applied in Cartesian, but not Pose tracking mode (probably an oversight)

Checklist

  • Required by CI: Code is auto formatted using clang-format
  • Extend the tutorials / documentation reference
  • Document API changes relevant to the user in the MIGRATION.md notes
  • Create tests, which fail without this PR reference
  • Include a screenshot if changing a GUI
  • While waiting for someone to review your request, please help review another open pull request to support the maintainers

@sea-bass sea-bass requested a review from AndyZe September 20, 2024 05:36
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@ibrahiminfinite give this a look if you can?

@sea-bass sea-bass requested a review from pac48 September 20, 2024 05:37
@sea-bass sea-bass mentioned this pull request Sep 20, 2024
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sure !

@sea-bass sea-bass marked this pull request as ready for review September 20, 2024 05:40
rhaschke
rhaschke approved these changes Sep 20, 2024
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LGTM

sjahr
sjahr approved these changes Sep 20, 2024
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Thanks! On small comment then we can merge this

moveit_ros/moveit_servo/config/servo_parameters.yaml Outdated Show resolved Hide resolved
sea-bass and others added 2 commits September 20, 2024 07:39
@sea-bass @sjahr
Update moveit_ros/moveit_servo/config/servo_parameters.yaml
7376410 
Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
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Tweak configs
3b2a7be
ibrahiminfinite
ibrahiminfinite approved these changes Sep 20, 2024
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Scaling looks right to me.

moveit_ros/moveit_servo/config/test_config_panda.yaml Outdated Show resolved Hide resolved
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sea-bass commented Sep 20, 2024 •
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I've been periodically rerunning CI with these scaled down speeds and so far haven't encountered any test failures. Maybe this PR will help with #3005 after all.

EDIT: Just kidding, saw the flake just now 😭

@sea-bass sea-bass mentioned this pull request Sep 21, 2024
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Made a few tweaks to the integration tests and it seems we're on a roll now!

image

sjahr
sjahr approved these changes Sep 24, 2024
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Let's merge this then 🚀

@sjahr sjahr merged commit 7d3693b into main Sep 24, 2024
11 of 14 checks passed
@sjahr sjahr deleted the servo-scaling-fixes branch September 24, 2024 06:44
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@sjahr sjahr sjahr approved these changes

@ibrahiminfinite ibrahiminfinite ibrahiminfinite approved these changes

@AndyZe AndyZe Awaiting requested review from AndyZe

@pac48 pac48 Awaiting requested review from pac48

@rhaschke rhaschke Awaiting requested review from rhaschke

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