Hybrid Planning

A Hybrid Planning architecture. You can find more information in the project’s issues#300, #433 and on the MoveIt 2 roadmap. Furthermore, there is an extensive tutorial available here.

Getting started

To start the demo run:

ros2 launch moveit_hybrid_planning hybrid_planning_demo.launch.py

You can exchange the planner logic plugin in the hybrid_planning_manager.yaml. Currently available demo plugins are:

• planner logic plugins:
  • replan_invalidated_trajectory: Runs the global planner once and starts executing the global solution with the local planner. In case the local planner detects a collision the global planner is rerun to update the invalidated global trajectory.
  • single_plan_execution: Run the global planner once and starts executing the global solution with the local planner
• global_planner plugins:
  • moveit_planning_pipeline: Global planner plugin that utilizes MoveIt’s planning pipeline accessed via the MoveItCpp API.
• trajectory operator plugins:
  • simple_sampler: Samples the next global trajectory waypoint as local goal constraint based on the current robot state. When the waypoint is reached the index that marks the current local goal constraint is updated to the next global trajectory waypoint. Global trajectory updates simply replace the reference trajectory.
• local solver plugins:
  • forward_trajectory: Forwards the next waypoint of the sampled local trajectory. Additionally, it is possible to enable collision checking, which lets the robot stop in front of a collision object.

Changelog for package moveit_hybrid_planning

2.14.0 (2025-06-13)

2.13.2 (2025-04-16)

2.13.1 (2025-04-15)

2.13.0 (2025-02-15)

• Update includes for generate_parameter_library 0.4.0 (#3255)
• Contributors: Sebastian Castro

2.12.0 (2024-11-29)

• Enhancement/use hpp for headers (#3113)
• Contributors: Tom Noble

2.11.0 (2024-09-16)

2.10.0 (2024-06-13)

• Migrate ros-planning org to moveit (#2847)
  • Rename github.com/ros-planning -> github.com/moveit
  • Rename ros-planning.github.io -> moveit.github.io
  • Rename ros-planning organization in docker and CI workflow files
  • ghcr.io/ros-planning -> ghcr.io/moveit
  • github.repository == 'moveit/*''
• Remove HP error codes interface (#2774)
• Unify log names (#2720) Co-authored-by: Abishalini Sivaraman <<abi.gpuram@gmail.com>>
• CMake format and lint in pre-commit (#2683)
• Clean-up hybrid planning package (#2603)
• Contributors: Robert Haschke, Sebastian Jahr, Tyler Weaver

2.9.0 (2024-01-09)

• Update ros2_control usage (#2620)

  • Update ros2_control usage
  • Update xacro file

• Node logging for the rest of MoveIt (#2599)

• [Planning Pipeline Refactoring] #2 Enable chaining planners (#2457)

  • Enable chaining multiple planners

• [Planning Pipeline Refactoring] #1 Simplify Adapter - Planner chain (#2429)

• Use node logging in moveit_ros (#2482)

• Add new clang-tidy style rules (#2177)

• Update pre-commit and add to .codespell_words (#2465)

• Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2

• Remove old deprecated functions (#2384)

• Converts float to double (#2343)

  * Limiting the scope of variables #874 Limited the scope of variables in moveit_core/collision_detection

  * Update moveit_core/collision_detection/src/collision_octomap_filter.cpp Co-authored-by: AndyZe <<andyz@utexas.edu>>

  * Update moveit_core/collision_detection/src/collision_octomap_filter.cpp Co-authored-by: AndyZe <<andyz@utexas.edu>>

  * Update moveit_core/collision_detection/src/collision_octomap_filter.cpp Co-authored-by: AndyZe <<andyz@utexas.edu>>

  • convert float to double

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