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Set max cartesian end-effector speed in planning pipeline #277

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Set max cartesian end-effector speed in planning pipeline #277

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b39a7dc
set max cartesian speed in planning pipeline
gautz Jun 25, 2021
0dc4780
pre-commit run
gautz Jun 25, 2021
cf873aa
use planner_request_adapter
gautz Jun 30, 2021
aa12c0a
wip set cartesian path max speed
gautz Jun 30, 2021
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5 changes: 5 additions & 0 deletions core/include/moveit/task_constructor/solvers/cartesian_path.h
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Original file line number Diff line number Diff line change
Expand Up @@ -59,6 +59,11 @@ class CartesianPath : public PlannerInterface
void setMaxVelocityScaling(double factor) { setProperty("max_velocity_scaling_factor", factor); }
void setMaxAccelerationScaling(double factor) { setProperty("max_acceleration_scaling_factor", factor); }

void setMaxCartesianSpeed(double max) { setProperty("max_cartesian_speed", max); }
void setCartesianSpeedLimitedLink(std::string limited_link) {
setProperty("cartesian_speed_limited_link", limited_link);
}

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

bool plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
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20 changes: 17 additions & 3 deletions core/src/solvers/cartesian_path.cpp
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Expand Up @@ -39,6 +39,7 @@
#include <moveit/task_constructor/solvers/cartesian_path.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/trajectory_processing/iterative_time_parameterization.h>
#include <moveit/trajectory_processing/cartesian_speed.h>
#if MOVEIT_MASTER
#include <moveit/robot_state/cartesian_interpolator.h>
#endif
Expand Down Expand Up @@ -105,9 +106,22 @@ bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr& from, cons
for (const auto& waypoint : trajectory)
result->addSuffixWayPoint(waypoint, 0.0);

trajectory_processing::IterativeParabolicTimeParameterization timing;
timing.computeTimeStamps(*result, props.get<double>("max_velocity_scaling_factor"),
props.get<double>("max_acceleration_scaling_factor"));
// optionally compute timing to move the eef with constant speed
if (props.get<double>("max_cartesian_speed") > 0.0) {
if (trajectory_processing::limitMaxCartesianLinkSpeed(
*result, props.get<double>("max_cartesian_speed"),
props.get<std::string>("cartesian_speed_limited_link"))) {
ROS_INFO_STREAM("successfully set max " << props.get<double>("max_cartesian_speed") << " [m/s] for link "
<< props.get<std::string>("cartesian_speed_limited_link"));
} else {
ROS_ERROR_STREAM("failed to set max speed for link_ "
<< props.get<std::string>("cartesian_speed_limited_link"));
}
} else {
trajectory_processing::IterativeParabolicTimeParameterization timing;
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");
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2 changes: 2 additions & 0 deletions core/src/solvers/pipeline_planner.cpp
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Expand Up @@ -149,6 +149,8 @@ void initMotionPlanRequest(moveit_msgs::MotionPlanRequest& req, const PropertyMa
req.num_planning_attempts = p.get<uint>("num_planning_attempts");
req.max_velocity_scaling_factor = p.get<double>("max_velocity_scaling_factor");
req.max_acceleration_scaling_factor = p.get<double>("max_acceleration_scaling_factor");
req.cartesian_speed_limited_link = p.get<std::string>("cartesian_speed_limited_link");
req.max_cartesian_speed = p.get<double>("max_cartesian_speed");
req.workspace_parameters = p.get<moveit_msgs::WorkspaceParameters>("workspace_parameters");
}

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2 changes: 2 additions & 0 deletions core/src/solvers/planner_interface.cpp
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Expand Up @@ -46,6 +46,8 @@ PlannerInterface::PlannerInterface() {
auto& p = properties();
p.declare<double>("max_velocity_scaling_factor", 1.0, "scale down max velocity by this factor");
p.declare<double>("max_acceleration_scaling_factor", 1.0, "scale down max acceleration by this factor");
p.declare<double>("max_cartesian_speed", 0.0, "maximum cartesian speed");
p.declare<std::string>("cartesian_speed_limited_link", "", "link with limited cartesian speed");
}
} // namespace solvers
} // namespace task_constructor
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