Add TrajOpt planner config

This commit adds the files needed for running the trajopt planner example that is found in the
[moveit_tutorials](https://ros-planning.github.io/moveit_tutorials/doc/trajopt_planner/trajopt_planner_tutorial.html).
This planner is not included into `move_group.launch` by default but can be invoked via the `pipeline` argument.
This was done since it is not yet officially released (see moveit/moveit#1467).

config/ompl_planning.yaml

@@ -127,6 +127,8 @@ planner_configs:
     sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
     dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
     max_failures: 5000  # maximum consecutive failure limit. default: 5000
+  TrajOpt:
+    type: geometric::TrajOpt
 panda_arm:
   planner_configs:
     - AnytimePathShortening
@@ -153,6 +155,7 @@ panda_arm:
     - LazyPRMstar
     - SPARS
     - SPARStwo
+    - TrajOpt
 hand:
   planner_configs:
     - AnytimePathShortening
@@ -179,3 +182,4 @@ hand:
     - LazyPRMstar
     - SPARS
     - SPARStwo
+    - TrajOpt

config/trajopt_planning.yaml

@@ -0,0 +1,58 @@
+trajopt_param:
+  improve_ratio_threshold: 0.25   # minimum ratio true_improve/approx_improve to accept step. [Research Paper] TrueImprove/ModelImprove > c
+  min_trust_box_size: 1e-4        # if trust region gets any smaller, exit and report convergence. [Research Paper] xtol
+  min_approx_improve: 1e-4        # if model improves less than this, exit and report convergence
+  min_approx_improve_frac: -.Inf  # if model improves less than this, exit and report convergence
+  max_iter: 100                   # The max number of iterations
+  trust_shrink_ratio: 0.1         # if improvement is less than improve_ratio_threshold, shrink trust region by this ratio. [Research Paper] tao-
+  trust_expand_ratio: 1.5         # if improvement is less than improve_ratio_threshold, shrink trust region by this ratio. [Research Paper] tao+
+  cnt_tolerance: 1e-4             # after convergence of penalty subproblem, if constraint violation is less than this, we're done. [Research Paper] ctol
+  max_merit_coeff_increases: 5    # number of times that we jack up penalty coefficient. [Reasearch Paper] Max iteration in PenaltyIteration loop
+  merit_coeff_increase_ratio: 10  # ratio that we increate coeff each time. [Researcy Paper] Penalty scaling factory (italic kappa)
+  max_time: .inf                  # not yet implemented
+  merit_error_coeff: 10           # initial penalty coefficient. [Research Paper] mu_0
+  trust_box_size: 1e-1            # current size of trust region (component-wise). [Research Paper] s
+
+problem_info:
+  basic_info:
+    n_steps: 20                # 2 * steps_per_phase
+    dt_upper_lim: 2.0          # The upper limit of 1/dt values allowed in the optimization
+    dt_lower_lim: 100.0        # The lower limit of 1/dt values allowed in the optimization
+    start_fixed: true          # if true, start pose is the current pose at timestep = 0
+    # if false, the start pose is the one given by req.start_state
+    use_time: false            # if false, it means the timestep is unit, meaning x1-x0 is the velocity for example
+    # if true, then cost_infos ro cnt_infos should have TT_USE_TIME for their term_type
+    convex_solver: 1           # which convex solver to use
+    #  1 = AUTO_SOLVER,  2 = BPMPD, 3 = OSQP, 4 = QPOASES, 5 = GUROBI
+
+  init_info:
+    type: 3                    # 1 = STATIONARY, 2 = JOINT_INTERPOLATED, 3 = GIVEN_TRAJ
+    # request.start_state should be provided for JOINT_INTERPOLATED and GIVEN_TRAJ
+    dt: 0.5
+
+joint_pos_term_info:
+  start_pos:   # from req.start_state
+    name: start_pos
+    first_timestep: 10                # First time step to which the term is applied.
+    last_timestep: 10                # Last time step to which the term is applied.
+    # if start_fixed is trure then we can not set the first_timestep to 0 for start_pos as it is going
+    # to be ignored and only the current pose would be the constraint at timestep = 0.
+    term_type: 2                 # 1 = TT_COST, 2 = TT_CNT, 3 = TT_USE_TIME
+  middle_pos:
+    name: middle_pos
+    first_timestep: 15
+    last_timestep: 15
+    term_type: 2
+  goal_pos:
+    name: goal_pos
+    first_timestep: 19
+    last_timestep: 19
+    term_type: 2
+  goal_tmp:               # If the constraint from request does not have any name, for example when using MotionPlanning Display in Rviz,
+  # goal_tmp is assigned as the name of the constraint.
+  # In this case: start_fixed = false and start_pos should be applied at timestep 0
+  # OR: start_fixed = true and start_pos can be applies at any timestep
+    name: goal_tmp
+    first_timestep: 19  # n_steps - 1
+    last_timestep: 19   # n_steps - 1
+    term_type: 2

launch/run_benchmark_trajopt.launch

@@ -0,0 +1,22 @@
+<launch>
+
+  <!-- This argument must specify the list of .cfg files to process for benchmarking -->
+  <arg name="cfg" />
+
+  <!-- Load URDF -->
+  <include file="$(find moveit_resources_panda_moveit_config)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- Start the database -->
+  <include file="$(find moveit_resources_panda_moveit_config)/launch/warehouse.launch">
+    <arg name="moveit_warehouse_database_path" value="moveit_trajopt_benchmark_warehouse"/>
+  </include>
+
+  <!-- Start Benchmark Executable -->
+  <node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
+    <rosparam command="load" file="$(find moveit_resources_panda_moveit_config)/config/kinematics.yaml"/>
+    <rosparam command="load" file="$(find moveit_resources_panda_moveit_config)/config/trajopt_planning.yaml"/>
+  </node>
+
+</launch>

launch/trajopt_planning_pipeline.launch.xml

@@ -0,0 +1,32 @@
+<launch>
+
+  <!-- TrajOpt Plugin for MoveIt -->
+  <arg name="planning_plugin" value="trajopt_interface/TrajOptPlanner" />
+
+  <!-- define capabilites that are loaded on start (space seperated) -->
+  <arg name="capabilities" default=""/>
+
+  <!-- inhibit capabilites (space seperated) -->
+  <arg name="disable_capabilities" default=""/>
+
+  <!-- The request adapters (plugins) used when planning with TrajOpt.
+       ORDER MATTERS -->
+  <arg name="planning_adapters" default="default_planner_request_adapters/AddTimeParameterization
+                                       default_planner_request_adapters/FixWorkspaceBounds
+                                       default_planner_request_adapters/FixStartStateBounds
+                                       default_planner_request_adapters/FixStartStateCollision
+                                       default_planner_request_adapters/FixStartStatePathConstraints" />
+
+  <arg name="start_state_max_bounds_error" default="0.1" />
+  <arg name="jiggle_fraction" default="0.05" />
+
+  <param name="planning_plugin" value="$(arg planning_plugin)" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+  <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
+  <param name="capabilities" value="$(arg capabilities)" />
+  <param name="disable_capabilities" value="$(arg disable_capabilities)" />
+
+  <rosparam command="load" file="$(find panda_moveit_config)/config/trajopt_planning.yaml"/>
+
+</launch>