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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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13 changes: 13 additions & 0 deletions core/src/solvers/pipeline_planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,7 @@
#include <moveit/task_constructor/task.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/planning_pipeline/planning_pipeline.h>
#include <moveit/trajectory_processing/cartesian_speed.h>
#include <moveit_msgs/MotionPlanRequest.h>
#include <moveit/kinematic_constraints/utils.h>
#include <eigen_conversions/eigen_msg.h>
Expand Down Expand Up @@ -149,6 +150,8 @@ 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.max_cartesian_speed = p.get<double>("max_cartesian_speed");
req.cartesian_speed_end_effector_link = p.get<std::string>("cartesian_speed_end_effector_link");
req.workspace_parameters = p.get<moveit_msgs::WorkspaceParameters>("workspace_parameters");
}

Expand All @@ -168,6 +171,11 @@ bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
::planning_interface::MotionPlanResponse res;
bool success = planner_->generatePlan(from, req, res);
result = res.trajectory_;
// optionally compute timing to move the eef with constant speed
if (req.max_cartesian_speed > 0.0) {
trajectory_processing::setMaxCartesianEndEffectorSpeed(*result, req.max_cartesian_speed,
req.cartesian_speed_end_effector_link);
}
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return success;
}

Expand All @@ -192,6 +200,11 @@ bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from, co
::planning_interface::MotionPlanResponse res;
bool success = planner_->generatePlan(from, req, res);
result = res.trajectory_;
// optionally compute timing to move the eef with constant speed
if (req.max_cartesian_speed > 0.0) {
trajectory_processing::setMaxCartesianEndEffectorSpeed(*result, req.max_cartesian_speed,
req.cartesian_speed_end_effector_link);
}
return success;
}
} // namespace solvers
Expand Down
3 changes: 3 additions & 0 deletions core/src/solvers/planner_interface.cpp
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Expand Up @@ -46,6 +46,9 @@ 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 end-effector speed");
p.declare<std::string>("cartesian_speed_end_effector_link", "end_effector_link",
"end-effector link with limited the velocity");
}
} // namespace solvers
} // namespace task_constructor
Expand Down