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run_ompl_constrained_planning package from moveit repo

moveit moveit_commander moveit_common moveit_core run_move_group run_moveit_cpp run_ompl_constrained_planning moveit_kinematics moveit_planners_chomp chomp_motion_planner moveit_chomp_optimizer_adapter moveit_planners moveit_planners_ompl pilz_industrial_motion_planner pilz_industrial_motion_planner_testutils sbpl_interface sbpl_interface_ros moveit_plugins moveit_ros_control_interface moveit_simple_controller_manager moveit_ros_benchmarks moveit_ros_manipulation moveit_ros_move_group moveit_ros moveit_servo moveit_ros_occupancy_map_monitor moveit_ros_perception moveit_ros_planning moveit_ros_planning_interface moveit_ros_robot_interaction moveit_ros_visualization moveit_ros_warehouse moveit_runtime moveit_setup_assistant

API Docs
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Package Summary

Tags No category tags.
Version 2.2.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-planning/moveit2.git
VCS Type git
VCS Version main
Last Updated 2021-07-30
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Demo ompl constrained planning capabilities

Additional Links

No additional links.

Maintainers

  • Boston Cleek

Authors

No additional authors.
moveit_demo_nodes/run_ompl_constrained_planning/README.md

MoveIt 2 Logo

MoveIt 2 Beta - OMPL Constrained Planning Demo

Setup

Before running the demo add the following lines to ompl_planning.yaml in the panda_config package bellow panda_arm:

enforce_constrained_state_space: true
projection_evaluator: joints(panda_joint1,panda_joint2)

Running

This demo includes a launch configuration for running MoveGroup and a separate demo node.

  • Note: This demo shows how to construct a variety of constraints. See util.cpp for helper functions to automate constructing the constraint messages.

The MoveGroup setup can be started:

ros2 launch run_ompl_constrained_planning run_move_group.launch.py

This allows you to start planning and executing motions:

ros2 launch run_move_group run_move_group_interface.launch.py

Details

State space selection process

There are three options for state space selection.

  1. Set enforce_constrained_state_space = true AND there must be path constraints in the planning request. This overrides all other settings and selects a ConstrainedPlanningStateSpace factory. If there are no path constraints in the planning request, this option is ignored, the constrained state space is only usefull for paths constraints. At the moment only a single position constraint is supported.

  2. Set enforce_joint_model_state_space = true and option 1. is false, then this overrides the remaining settings and selects JointModelStateSpace factory. Some planning problems such as orientation path constraints are represented in PoseModelStateSpace and sampled via IK. However, consecutive IK solutions are not checked for proximity at the moment and sometimes happen to be flipped, leading to invalid trajectories. This workaround lets the user prevent this problem by forcing rejection sampling in JointModelStateSpace.

  3. When options 1. and 2. are both set to false, the factory is selected based on the priority each one returns. See PoseModelStateSpaceFactory::canRepresentProblem for details on the selection process. In short, it selects PoseModelStateSpace if there is an IK solver and a path constraint.

CHANGELOG

Changelog for package run_ompl_constrained_planning

2.2.1 (2021-07-12)

2.2.0 (2021-06-30)

2.1.4 (2021-05-31)

2.1.3 (2021-05-22)

2.1.2 (2021-04-20)

  • Unify PickNik name in copyrights (#419)
  • Remove move_group namespace from MotionPlanning display (#420)
  • Contributors: Tyler Weaver, Vatan Aksoy Tezer

2.1.1 (2021-04-12)

  • Update launch files to use ros2 control spawner (#405)
  • Use fake_components::GenericSystem from ros2_control (#361)
  • Fix EXPORT install in CMake (#372)
  • Contributors: Boston Cleek, Jafar Abdi, Tyler Weaver

2.1.0 (2020-11-24)

2.0.0 (2020-05-13)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged run_ompl_constrained_planning at answers.ros.org

run_ompl_constrained_planning package from moveit repo

moveit moveit_commander moveit_common moveit_core run_move_group run_moveit_cpp run_ompl_constrained_planning moveit_kinematics moveit_planners_chomp chomp_motion_planner moveit_chomp_optimizer_adapter moveit_planners moveit_planners_ompl pilz_industrial_motion_planner pilz_industrial_motion_planner_testutils sbpl_interface sbpl_interface_ros moveit_plugins moveit_ros_control_interface moveit_simple_controller_manager moveit_ros_benchmarks moveit_ros_manipulation moveit_ros_move_group moveit_ros moveit_servo moveit_ros_occupancy_map_monitor moveit_ros_perception moveit_ros_planning moveit_ros_planning_interface moveit_ros_robot_interaction moveit_ros_visualization moveit_ros_warehouse moveit_runtime moveit_setup_assistant

API Docs
Browse Code
RosEco

Package Summary

Tags No category tags.
Version 2.2.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-planning/moveit2.git
VCS Type git
VCS Version main
Last Updated 2021-07-30
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Demo ompl constrained planning capabilities

Additional Links

No additional links.

Maintainers

  • Boston Cleek

Authors

No additional authors.
moveit_demo_nodes/run_ompl_constrained_planning/README.md

MoveIt 2 Logo

MoveIt 2 Beta - OMPL Constrained Planning Demo

Setup

Before running the demo add the following lines to ompl_planning.yaml in the panda_config package bellow panda_arm:

enforce_constrained_state_space: true
projection_evaluator: joints(panda_joint1,panda_joint2)

Running

This demo includes a launch configuration for running MoveGroup and a separate demo node.

  • Note: This demo shows how to construct a variety of constraints. See util.cpp for helper functions to automate constructing the constraint messages.

The MoveGroup setup can be started:

ros2 launch run_ompl_constrained_planning run_move_group.launch.py

This allows you to start planning and executing motions:

ros2 launch run_move_group run_move_group_interface.launch.py

Details

State space selection process

There are three options for state space selection.

  1. Set enforce_constrained_state_space = true AND there must be path constraints in the planning request. This overrides all other settings and selects a ConstrainedPlanningStateSpace factory. If there are no path constraints in the planning request, this option is ignored, the constrained state space is only usefull for paths constraints. At the moment only a single position constraint is supported.

  2. Set enforce_joint_model_state_space = true and option 1. is false, then this overrides the remaining settings and selects JointModelStateSpace factory. Some planning problems such as orientation path constraints are represented in PoseModelStateSpace and sampled via IK. However, consecutive IK solutions are not checked for proximity at the moment and sometimes happen to be flipped, leading to invalid trajectories. This workaround lets the user prevent this problem by forcing rejection sampling in JointModelStateSpace.

  3. When options 1. and 2. are both set to false, the factory is selected based on the priority each one returns. See PoseModelStateSpaceFactory::canRepresentProblem for details on the selection process. In short, it selects PoseModelStateSpace if there is an IK solver and a path constraint.

CHANGELOG

Changelog for package run_ompl_constrained_planning

2.2.1 (2021-07-12)

2.2.0 (2021-06-30)

2.1.4 (2021-05-31)

2.1.3 (2021-05-22)

2.1.2 (2021-04-20)

  • Unify PickNik name in copyrights (#419)
  • Remove move_group namespace from MotionPlanning display (#420)
  • Contributors: Tyler Weaver, Vatan Aksoy Tezer

2.1.1 (2021-04-12)

  • Update launch files to use ros2 control spawner (#405)
  • Use fake_components::GenericSystem from ros2_control (#361)
  • Fix EXPORT install in CMake (#372)
  • Contributors: Boston Cleek, Jafar Abdi, Tyler Weaver

2.1.0 (2020-11-24)

2.0.0 (2020-05-13)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged run_ompl_constrained_planning at answers.ros.org

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