Skip to content

Commit

Permalink
Propagate errors from planners to solution comment (moveit#525)
Browse files Browse the repository at this point in the history
  • Loading branch information
@Abishalini @rhaschke
Abishalini authored and rhaschke committed Mar 8, 2024
1 parent 0827a0d commit e44a564
Show file tree
Hide file tree
Showing 12 changed files with 161 additions and 110 deletions.
4 changes: 2 additions & 2 deletions core/include/moveit/task_constructor/solvers/cartesian_path.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -63,11 +63,11 @@ class CartesianPath : public PlannerInterface

void init(const moveit::core::RobotModelConstPtr& robot_model) override;

bool plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
Result plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
const moveit::core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;

bool plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
Result plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg,
double timeout, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
Expand Down
14 changes: 7 additions & 7 deletions core/include/moveit/task_constructor/solvers/joint_interpolation.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -58,14 +58,14 @@ class JointInterpolationPlanner : public PlannerInterface

void init(const moveit::core::RobotModelConstPtr& robot_model) override;

bool plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
const core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
Result plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
const core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;

bool plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg,
double timeout, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
Result plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target,
const moveit::core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
};
} // namespace solvers
} // namespace task_constructor
Expand Down
14 changes: 7 additions & 7 deletions core/include/moveit/task_constructor/solvers/multi_planner.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -63,14 +63,14 @@ class MultiPlanner : public PlannerInterface, public std::vector<solvers::Planne

void init(const moveit::core::RobotModelConstPtr& robot_model) override;

bool plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
const moveit::core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
Result plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
const moveit::core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;

bool plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg,
double timeout, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
Result plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target,
const moveit::core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
};
} // namespace solvers
} // namespace task_constructor
Expand Down
18 changes: 11 additions & 7 deletions core/include/moveit/task_constructor/solvers/pipeline_planner.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,7 @@
#pragma once

#include <moveit/task_constructor/solvers/planner_interface.h>
#include <moveit_msgs/MotionPlanRequest.h>
#include <moveit/macros/class_forward.h>

namespace planning_pipeline {
Expand Down Expand Up @@ -79,16 +80,19 @@ class PipelinePlanner : public PlannerInterface

void init(const moveit::core::RobotModelConstPtr& robot_model) override;

bool plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
const core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
Result plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
const core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;

bool plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg,
double timeout, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
Result plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target,
const moveit::core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;

protected:
Result plan(const planning_scene::PlanningSceneConstPtr& from, const moveit_msgs::MotionPlanRequest& req,
robot_trajectory::RobotTrajectoryPtr& result);

std::string pipeline_name_;
planning_pipeline::PlanningPipelinePtr planner_;
};
Expand Down
26 changes: 17 additions & 9 deletions core/include/moveit/task_constructor/solvers/planner_interface.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -71,6 +71,14 @@ class PlannerInterface
PropertyMap properties_;

public:
struct Result
{
bool success;
std::string message;

operator bool() const { return success; }
};

PlannerInterface();
virtual ~PlannerInterface() {}

Expand All @@ -88,17 +96,17 @@ class PlannerInterface
virtual void init(const moveit::core::RobotModelConstPtr& robot_model) = 0;

/// plan trajectory between to robot states
virtual bool plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
const moveit::core::JointModelGroup* jmg, double timeout,
robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) = 0;
virtual Result plan(const planning_scene::PlanningSceneConstPtr& from,
const planning_scene::PlanningSceneConstPtr& to, const moveit::core::JointModelGroup* jmg,
double timeout, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) = 0;

/// plan trajectory from current robot state to Cartesian target, such that pose(link)*offset == target
virtual bool plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target,
const moveit::core::JointModelGroup* jmg, double timeout,
robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) = 0;
virtual Result plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target,
const moveit::core::JointModelGroup* jmg, double timeout,
robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) = 0;
};
} // namespace solvers
} // namespace task_constructor
Expand Down
30 changes: 16 additions & 14 deletions core/src/solvers/cartesian_path.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -59,26 +59,25 @@ CartesianPath::CartesianPath() {

void CartesianPath::init(const core::RobotModelConstPtr& /*robot_model*/) {}

bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr& from,
const planning_scene::PlanningSceneConstPtr& to, const moveit::core::JointModelGroup* jmg,
double timeout, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints) {
PlannerInterface::Result CartesianPath::plan(const planning_scene::PlanningSceneConstPtr& from,
const planning_scene::PlanningSceneConstPtr& to,
const moveit::core::JointModelGroup* jmg, double timeout,
robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints) {
const moveit::core::LinkModel* link = jmg->getOnlyOneEndEffectorTip();
if (!link) {
ROS_WARN_STREAM("no unique tip for joint model group: " << jmg->getName());
return false;
}
if (!link)
return { false, "no unique tip for joint model group: " + jmg->getName() };

// reach pose of forward kinematics
return plan(from, *link, Eigen::Isometry3d::Identity(), to->getCurrentState().getGlobalLinkTransform(link), jmg,
std::min(timeout, properties().get<double>("timeout")), result, path_constraints);
}

bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target,
const moveit::core::JointModelGroup* jmg, double /*timeout*/,
robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints) {
PlannerInterface::Result CartesianPath::plan(const planning_scene::PlanningSceneConstPtr& from,
const moveit::core::LinkModel& link, const Eigen::Isometry3d& offset,
const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg,
double /*timeout*/, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints) {
const auto& props = properties();
planning_scene::PlanningScenePtr sandbox_scene = from->diff();

Expand Down Expand Up @@ -109,7 +108,10 @@ bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr& from, cons
timing->computeTimeStamps(*result, props.get<double>("max_velocity_scaling_factor"),
props.get<double>("max_acceleration_scaling_factor"));

return achieved_fraction >= props.get<double>("min_fraction");
if (achieved_fraction < props.get<double>("min_fraction")) {
return { false, "min_fraction not met. Achieved: " + std::to_string(achieved_fraction) };
}
return { true };
}
} // namespace solvers
} // namespace task_constructor
Expand Down
52 changes: 28 additions & 24 deletions core/src/solvers/joint_interpolation.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -57,11 +57,11 @@ JointInterpolationPlanner::JointInterpolationPlanner() {

void JointInterpolationPlanner::init(const core::RobotModelConstPtr& /*robot_model*/) {}

bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
const planning_scene::PlanningSceneConstPtr& to,
const moveit::core::JointModelGroup* jmg, double /*timeout*/,
robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& /*path_constraints*/) {
PlannerInterface::Result JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
const planning_scene::PlanningSceneConstPtr& to,
const moveit::core::JointModelGroup* jmg, double /*timeout*/,
robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& /*path_constraints*/) {
const auto& props = properties();

// Get maximum joint distance
Expand All @@ -75,23 +75,32 @@ bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr

// add first point
result->addSuffixWayPoint(from->getCurrentState(), 0.0);
if (from->isStateColliding(from_state, jmg->getName()) || !from_state.satisfiesBounds(jmg))
return false;
if (from->isStateColliding(from_state, jmg->getName()))
return { false, "Start state is in collision!" };

if (!from_state.satisfiesBounds(jmg))
return { false, "Start state is out of bounds!" };

moveit::core::RobotState waypoint(from_state);
double delta = d < 1e-6 ? 1.0 : props.get<double>("max_step") / d;
for (double t = delta; t < 1.0; t += delta) { // NOLINT(clang-analyzer-security.FloatLoopCounter)
from_state.interpolate(to_state, t, waypoint);
result->addSuffixWayPoint(waypoint, t);

if (from->isStateColliding(waypoint, jmg->getName()) || !waypoint.satisfiesBounds(jmg))
return false;
if (from->isStateColliding(waypoint, jmg->getName()))
return { false, "Waypoint is in collision!" };

if (!waypoint.satisfiesBounds(jmg))
return { false, "Waypoint is out of bounds!" };
}

// add goal point
result->addSuffixWayPoint(to_state, 1.0);
if (from->isStateColliding(to_state, jmg->getName()) || !to_state.satisfiesBounds(jmg))
return false;
if (from->isStateColliding(to_state, jmg->getName()))
return { false, "Goal state is in collision!" };

if (!to_state.satisfiesBounds(jmg))
return { false, "Goal state is out of bounds!" };

auto timing = props.get<TimeParameterizationPtr>("time_parameterization");
timing->computeTimeStamps(*result, props.get<double>("max_velocity_scaling_factor"),
Expand All @@ -111,14 +120,13 @@ bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr
}
}

return true;
return { true, "" };
}

bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
const moveit::core::LinkModel& link, const Eigen::Isometry3d& offset,
const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg,
double timeout, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints) {
PlannerInterface::Result JointInterpolationPlanner::plan(
const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg,
double timeout, robot_trajectory::RobotTrajectoryPtr& result, const moveit_msgs::Constraints& path_constraints) {
timeout = std::min(timeout, properties().get<double>("timeout"));
const auto deadline = std::chrono::steady_clock::now() + std::chrono::duration<double, std::ratio<1>>(timeout);

Expand All @@ -134,16 +142,12 @@ bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr
return to->isStateValid(*robot_state, constraints, jmg->getName());
} };

if (!to->getCurrentStateNonConst().setFromIK(jmg, target * offset.inverse(), link.getName(), timeout, is_valid)) {
// TODO(v4hn): planners need a way to add feedback to failing plans
// in case of an invalid solution feedback should include unwanted collisions or violated constraints
ROS_WARN_NAMED("JointInterpolationPlanner", "IK failed for pose target");
return false;
}
if (!to->getCurrentStateNonConst().setFromIK(jmg, target * offset.inverse(), link.getName(), timeout, is_valid))
return { false, "IK failed for pose target." };
to->getCurrentStateNonConst().update();

if (std::chrono::steady_clock::now() >= deadline)
return false;
return { false, "timeout" };

return plan(from, to, jmg, timeout, result, path_constraints);
}
Expand Down
Loading

0 comments on commit e44a564

Please sign in to comment.