play_motion

This tool is used to play pre-recorded motions on ros_control compliant robots via a simple actionlib interface. Any robot that implements control via joint_trajectory_controller can be put into motion with play_motion.

Starting from version 0.4, play_motion will by default compute a collision-free trajectory between the robot’s current state and the first motion waypoint. This requires your robot to have a running moveit setup, and to configure play_motion to use it. If you’re not interested in the motion planning capability, it’s possible to disable it altogether. Refer to the config/ folder for configuration examples.

How-to

1. Prepare one (or more!) motion. They need to be loaded as rosparams. You will find samples in the config/ folder.

   rosparam load config/your_motion_file.yaml
   

1. Launch play_motion (without motion planning capabilities, for simplicity)

   rosparam set /play_motion/disable_motion_planning true
   rosrun play_motion play_motion
   

1. Fire an actionlib client that publishes on /play_motion action server, enter the name of your motion on the motion_name field and set skip_planning=true to not use motion planning.

That’s it!

Changelog for package play_motion

0.4.15 (2023-05-29)

• Merge branch 'fix_invalid_initial_state' into 'erbium-devel' check for a valid initial state of the trajectory before executing the motion See merge request app-tools/play_motion!13
• added tests for invalid case
• check for a valid initial state of the trajectory before executing the motion
• Contributors: Jordan Palacios, Sai Kishor Kothakota

0.4.14 (2023-04-24)

• Merge branch 'fix_time_offset_for_multi_waypoints' into 'erbium-devel' fix the trajectory ofsetting that delays the trajectory See merge request app-tools/play_motion!12
• fix the trajectory ofsetting that delays the trajectory
• Contributors: Sai Kishor Kothakota

0.4.13 (2023-04-21)

0.4.12 (2023-04-21)

• Merge branch 'scale_approach_trajectory' into 'erbium-devel' Scale the approach trajectory to the given time, when the approach trajectory... See merge request app-tools/play_motion!11
• Scale the approach trajectory to the given time, when the approach trajectory is faster than expected
• Contributors: Jordan Palacios, Sai Kishor Kothakota

0.4.11 (2023-02-13)

• Update tests
• clean merge request
• update code style
• cleaned code
• updated move_joint_test.py
• removed printf statements
• remove redundant launch in move_joint.test
• Add tests
• Contributors: David ter Kuile

0.4.10 (2021-09-17)

• Fix test race condition
• Contributors: Victor Lopez

0.4.9 (2021-08-26)

• Merge branch 'gallium-fixes' into 'erbium-devel' Fix tests for gallium See merge request app-tools/play_motion!7
• Use robot_state_publisher instead of deprecated state_publisher
• Use xacro instead of deprecated xacro.py
• Merge branch 'revert_wait_for_server' into 'erbium-devel' Revert "Added waitForServer to the joint trajectory controller action client" Reverted because the waitForServer always fails since the Action Clients have no dedicated thread. This can cause that sending a goal right after controllers are changed or read for the first time, the goal will abort. See merge request app-tools/play_motion!8
• Revert "Added waitForServer to the joint trajectory controller action client" This reverts commit 24bff740e6e79723aedd618428cfda2daf0e58a5.
• Merge branch 'move_joint_wait_for_server' into 'erbium-devel' Added waitForServer to the joint trajectory controller action client See merge request app-tools/play_motion!6
• Added waitForServer to the joint trajectory controller action client
• Contributors: Jordan Palacios, Sai Kishor Kothakota, saikishor, victor

0.4.8 (2019-09-09)

• Fixes for shadowed variables
• Contributors: Jordan Palacios

0.4.7 (2019-05-22)

• Merge branch 'melodic_fixes' into 'erbium-devel' changes for melodic deprecated MoveGroup (was renamed to MoveGroupInterface) See merge request app-tools/play_motion!5
• changes for melodic deprecated MoveGroup (was renamed to MoveGroupInterface)
• Contributors: Sai Kishor Kothakota, Victor Lopez

0.4.6 (2018-09-28)

• Merge branch 'use-weak-ref' into 'erbium-devel' Fix error when changing controllers during a motion See merge request app-tools/play_motion!4
• Fix error when changing controllers during a motion
• Contributors: Victor Lopez

0.4.5 (2018-01-11)

• fixed merge
• 0.4.4
• updated changelog
• added missing joint trajectory controller for test
• added missing position_controllers test
• added missing xacro test depend
• migration to kinetic
• added extra test dependencies
• added gitignore and update new ros_control kinetic compatibility
• Contributors: Hilario Tome, Hilario Tomé

0.4.4 (2017-11-23)

• Update changelog
• Merge branch 'add-run-motion' into 'cobalt-devel' add command line run_motion executables See merge request app-tools/play_motion!3
• add command line run_motion executables
• Contributors: Jordi Pages, Victor Lopez

0.4.3 (2016-03-30)

• Update changelog
• Add play_motion continuous test fixes #6967
• Migrate package to format 2, catkin lint fixes
• Contributors: Victor Lopez

0.4.2 (2015-11-17)

• Update changelog
• Merge branch 'fix_malformed_motion_crash' into 'cobalt-devel' Fix Malformed Motion Crash As explained in ticket: https://redmine/issues/12188 Trying to make a new movement I mistakenly populated too short an array of positions and I crashed (consistently) play_motion. This gave the error (assert): ` play_motion: /tmp/buildd/play-motion-0.4.1/play_motion/src/play_motion_helpers.cpp:142: void play_motion::populateVelocities(const TrajPoint&, const TrajPoint&, play_motion::TrajPoint&): Assertion `num_joints == point_prev.positions.size() && num_joints == point_next.positions.size()' failed.` This fixes it by throwing an exception instead.
• Fix crash when malformed motion was requested It was an assert before, now it throws an exception. Added also a test.
• Contributors: Sammy Pfeiffer, Victor Lopez

0.4.1 (2014-11-21)

• Update changelogs
• Update package maintainer/authors
• Merge pull request #45 from v-lopez/add-depender-exports Add missing configuration for depender projects
• Add missing configuration for depender projects
• Merge pull request #44 from bmagyar/convenience_functions Convenience functions
• Refactor argument names to convention
• Add function alternatives where NodeHandle defaults to one of play_motion
• Merge pull request #43 from dpinol/debugging_error0 Log error when error code is 0
• log error when core is 0
• Merge pull request #42 from pal-robotics/min-approach-dur Add new optional config parameter.
• Add default values and units to sample config.
• Add new optional config parameter. Add new parameter to configure the minimum approach time to use when skip_planning = true. If we time-parameterize trajectories using MoveIt's built-in methods, we'd be able to get rid of this additional parameter, but in the meantime, it addresses an important issue.
• Contributors: Adolfo Rodriguez Tsouroukdissian, Bence Magyar, Daniel Pinyol, Paul Mathieu, Víctor López

0.4.0 (2014-04-23)

• Update changelogs
• Merge pull request #40 from pal-robotics/add-install-rule Add install() rule for headers
• Add install() rule for headers
• Template specialization must be marked as inline ... if we want to include it in multiple source files
• Merge pull request #29 from pal-robotics/cast-bug Allow cast from int to double in xmlrpc helpers
• Fetch time_from_start as a double This will trigger the template specialization of the previous commit Fixes #28
• Merge pull request #36 from pal-robotics/motion-planning MoveIt! integration
• Update README and sample config files
• Simplify how to disable motion planning. - Move disable_motion_planning param to play_motion's namespace, instead of nesting it inside approach_planner.
  • Update tests to exercise this behavior.
• Make tests build cleanly and pass.
  • Add additional config to force no motion planning in existing tests.
  • Fix compiler warnings.

  - Lift test timeout. Otherwise as the test suite increases we'll need to keep on tweaking the value. Timeout errors are highly non-descriptive.

• Allow to disable motion planning altogether. - Setting '~/approach_planner/disable_motion_planning=true' will cause play_motion to not initialize its motion planning instances. - When deployed like this, the node will only accept goals expplicitly specifying 'skip_planning=true'

• Merge pull request #32 from pal-robotics/list-motions-srv Add service call to query available motions.
• Refactor move_joint file layout.
  • Move guts to src/play_motion/move_joint.py

  - scripts/move_joint is a thin wrapper that catches any unhandled exceptions, thus preventing lengthy tracebacks that confuse non-developers.

  • Add move_joint to the install target.
• Colorize move_joint output.
• Simplify move_joint logic.
• Fix bug in applying computed reach time. A regression was introduced in which the reach time was not propagated to all motion waypoints.
• Silence compiler warnings.
• First iteration of move_joint script. Refs #33.
• Don't compute approach time if specified. When skip_planning is set to True, the input motion might specify a valid time_from_start for the first waypoint. The automatic reach time computation is thus done only when the first waypoint contains a zero time_from_start.

• Handle first waypoints with time_from_start == 0. Two different scenarios have been addressed when the first waypoint has zero time_from_start: - Bugfix: If the approach trajectory is null, but non-planning joints move a reach time must be computed for the first waypoint. - Cosmetic fix: Current state coincides with first waypoint. We make the time_from_start be a small, almost zero value to prevent the controllers from issuing a warning.

• Add service call to query available motions.
• Isolate move_group async spinner from rest of node Without this change, the synchronous spinning of play_motion was compromised. Now play_motion preserves its synchronous spin behavior, and move_group instances share a separate asynchronously serviced callback queue. This changeset can be considered an initial fix for #31: When canceling a goal, the cancel request will block until planning completes, but will then be serviced correctly. The current planning latencies are small enough to make this solution acceptable.
• Make tests build.
  • Adapt test logic to new message layout.

  - Tests currently don't run successfully, as rrbot doesn't yet have a MoveIt! configuration.

• Fix crash when approach planner requisites not met - If the required rosparam config is absent, print a descriptive error and don't crash.

• Make planning optional. Deprecate reach_time. - The action message has a new field: skip_planning, used to request for no motion planning to take place, case in which the approach time is automatically computed from a specified maximum velocity. - The above point means that the reach_time parameter is no longer required, hence has been removed from the action goal message. - A side-effect of this, is that the reach_time is computed by the approach planner, and no longer has to be forwarded all the way down to the MoveJointGroup instances.

• Silence cppcheck warning. - Type qualifiers ignored on function return type [-Wignored-qualifiers]: Function expecting const int returned int.

• Log message aesthetics. Caps, better messages.
• Action goal fails when approach computation fails.
  • Fix for bug where goal remained active indefinitely.
• Proper support for setting waypoint vel, acc.
  • Expose acceleration field through PlayMotion and MoveJointGroup.

  - In MoveJointGroup, don't set zero velocity if unspecified. Since we now have the populateVelocities method, it's already being taken care of there.

• Refactor approach computation internals. Planning group selection has been improved to select groups that: - Span at least the joint of the input motion that change between current and goal configurations.
  • Span at most all joints of the input motion.
• First prototype of motion planning support.
  • Add dependencies on MoveIt!

  - Add helper class that plans an approach trajectory when needed, and is able to reason about which planning groups to use

  • Pending tasks documented as inline TODOs
• Merge pull request #30 from pal-robotics/refactor-check-controllers Refactor how controllers are checked.
• Refactor how controllers are checked.
  • Unify in a central place controller checks.
  • Busy controllers are detected at the earliest possible moment.

  - Pave the way for incorporating motion planning. Without this changeset, we risked computing approach plans even when play_motion is busy executing executing a motion. Not good.

• Allow cast from int to double in xmlrpc helpers Fixes #28
• Contributors: Adolfo Rodriguez Tsouroukdissian, Paul Mathieu

0.3.5 (2014-02-25)

• "0.3.5"
• Update changelogs
• Harmonize doxygen tags
• Merge pull request #21 from pal-robotics/issue-20 Fix crash with empty motion names. Fixes #20.
• Fix crash with empty motion names. Fixes #20.
• Merge pull request #22 from pal-robotics/doc-fix Minor doc fix.
• Minor doc fix.
• Contributors: Adolfo Rodriguez Tsouroukdissian, Paul Mathieu

0.3.4 (2014-02-24)

• "0.3.4"
• Update changelogs
• Merge pull request #14 from pal-robotics/refactor-popuvel Refactor populateVelocities
• Revert intrusive changes to main function. - Don't swallow unexpected exceptions. Let the message show on program termination.
  • Hide async spinner requirements of the approach planner to its implementation.
• Refactor populateVelocities. Document it.
• Merge pull request #19 from pal-robotics/propagate-status Propagate controller action final state
• Propagate controller action state to internal API So that a proper message can be displayed, and appropriate measures be taken. Fixes #15
• Refactor some stuff in play_motion.cpp controllerCb had no business inside PlayMotion class
• Refactor and document MoveJointGroup
• Merge pull request #13 from pal-robotics/use-ros-messages Use existing msg types for traj points. (#4)
• Replace test_depend with build_depend <test_depend/> tags are ignored by almost everybody.
• Use existing msg types for traj points. Refs #4.
  • Move from the custom structs to trajectory_msgs types.
  • Waypoints can now have accelerations.
• Contributors: Adolfo Rodriguez Tsouroukdissian, Paul Mathieu

0.3.3 (2014-02-20)

• "0.3.3"
• Update changelogs
• Fix dependencies (add sensor_msgs) This is hopefully fixing the build on the buildfarm
• Merge pull request #11 from v-lopez/hydro-devel Add install target for play_motion_helpers lib
• Add install target for play_motion_helpers lib
• Update is_already_there service with new repo topology
• Merge pull request #10 from pal-robotics/split-msgs Split package into play_motion and play_motion_msgs
• Split package into play_motion and play_motion_msgs fixes #9
• Contributors: Adolfo Rodriguez Tsouroukdissian, Paul Mathieu, Víctor López

0.3.2 (2014-02-05)

0.3.1 (2013-12-04 15:48:01 +0100)

0.3.0 (2013-11-28)