The main goal was to extend MoveIt's functionallity for path planning with task space path constraints. Specifically, extend the current OMPL interface with OMPL's constrained planning capabilities.
Jeroen JeroenDM
JeroenDM
/ create_test_data.py
Created
December 2, 2020 10:06
Generate some valid orientation data for a tolerance of +/- (0.5, 0.5, 0.5) on either Euler angles or a rotation vector. (scipy==1.4.1)
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| import numpy as np | |
| from scipy.spatial.transform import Rotation | |
| from acrobotics.path.util import create_grid | |
| from pyquaternion import Quaternion | |
| def rotvec_to_mat(v): | |
| return Rotation.from_rotvec(v).as_dcm() | |
| def mat_to_rotvec(mat): |
JeroenDM
/ setup_assistant_issue
Created
September 30, 2020 07:01
Output from launching the moveit setup assistant and loading an URDF file.
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| $ roslaunch moveit_setup_assistant setup_assistant.launch | |
| ... logging to /home/jeroen/.ros/log/2750490c-02e9-11eb-ae7b-f834415a491a/roslaunch-jeroen-5580-17241.log | |
| Checking log directory for disk usage. This may take a while. | |
| Press Ctrl-C to interrupt | |
| Done checking log file disk usage. Usage is <1GB. | |
| started roslaunch server http://jeroen-5580:44185/ | |
| SUMMARY | |
| ======== |
JeroenDM
/ gsoc_2020_moveit_ompl.md
Last active
June 2, 2022 14:20
Summary Google Summer of Code 2020: Cartesian motion planning with constraints in MoveIt
JeroenDM
/ moveit_debug_tip
Created
August 28, 2020 11:39
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| // debug code for MoveIt ompl interface ConstrainedPlanningStateSpace::getValueAddressAtIndex method | |
| // (jeroendm) left in the debug code, because it is not unlikely that issues will arise here when adding new things in | |
| // the future. Use dynamic casting to make our debugging live easier. | |
| // -------------------------------------------------------------------------- | |
| // auto casted_state = dynamic_cast<ompl_interface::ConstrainedPlanningStateSpace::StateType*>(ompl_state); | |
| // if (casted_state) | |
| // { | |
| // return casted_state->values + index; | |
| // } |
JeroenDM
/ state_validity_checker_warnings.txt
Created
August 8, 2020 07:49
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| In file included from /home/jeroen/ros/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/src/detail/state_validity_checker.cpp:37: | |
| /home/jeroen/ros/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/state_validity_checker.h:64:8: warning: 'ompl_interface::StateValidityChecker::isValid' hides overloaded virtual function [-Woverloaded-virtual] | |
| bool isValid(const ompl::base::State* state, bool verbose) const; | |
| ^ | |
| /home/jeroen/ros/moveit_ws/devel/include/ompl-1.5/ompl/base/StateValidityChecker.h:128:26: note: hidden overloaded virtual function 'ompl::base::StateValidityChecker::isValid' declared here: different number of parameters (4 vs 2) | |
| virtual bool isValid(const State *state, double &dist, State *validState, bool &validStateAvailable) const | |
| ^ | |
| In file included from /home/jeroen/ros/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/src/detail/state_validity_checker.cpp:37: | |
| /home/jeroen/ros/moveit_ws/src/moveit/ |
JeroenDM
/ valgrind_output_valitidy_checker_test.txt
Last active
August 8, 2020 09:13
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| $ valgrind --leak-check=full ./devel/lib/moveit_planners_ompl/test_state_validity_checker | |
| ==8746== Memcheck, a memory error detector | |
| ==8746== Copyright (C) 2002-2017, and GNU GPL'd, by Julian Seward et al. | |
| ==8746== Using Valgrind-3.13.0 and LibVEX; rerun with -h for copyright info | |
| ==8746== Command: ./devel/lib/moveit_planners_ompl/test_state_validity_checker | |
| ==8746== | |
| [==========] Running 3 tests from 1 test case. | |
| [----------] Global test environment set-up. | |
| [----------] 3 tests from PandaValidityCheckerTests | |
| [ RUN ] PandaValidityCheckerTests.createStateValidityChecker |
JeroenDM
/ moveit_ik_plugin_comparison
Created
July 29, 2020 09:57
Compare the default KDL plugin with the OPW kinematics plugin for the Kuka KR5 using `rosrun moveit_ros_planning moveit_kinematics_speed_and_validity_evaluator manipulator`
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| ~rosrun moveit_ros_planning moveit_kinematics_speed_and_validity_evaluator manipulator | |
| ros.moveit_core.robot_model: Loading robot model 'kuka_kr5_arc'... | |
| ros.moveit_core.robot_model: No root/virtual joint specified in SRDF. Assuming fixed joint | |
| ros.moveit_opw_kinematics_plugin.opw: MoveItOPWKinematicsPlugin initializing | |
| ros.moveit_opw_kinematics_plugin.opw: Dimension planning group 'manipulator': 6. Active Joints Models: 6. Mimic Joint Models: 0 | |
| ros.moveit_opw_kinematics_plugin: Getting kinematic parameters from parameter server. | |
| ros.moveit_opw_kinematics_plugin: Loaded parameters for ik solver: | |
| Distances: [0.18 -0.12 0 0.4 0.6 0.62 0.115] | |
| Offsets = [0 -1.5708 0 0 0 0 ] | |
| Sign_corrections = [-1 1 1 -1 1 -1 ] |
JeroenDM
/ prerelease_output.bash
Last active
May 10, 2020 15:40
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| Invocation failed without any known error condition, printing all lines to debug known error detection: | |
| 1 'Reading package lists...' | |
| 2 'Building dependency tree...' | |
| 3 'Reading state information...' | |
| 4 'Starting pkgProblemResolver with broken count: 5' | |
| 5 'Starting 2 pkgProblemResolver with broken count: 5' | |
| 6 'Investigating (0) ros-melodic-catkin:amd64 < none -> 0.7.23-1bionic.20200303.045725 @un puN Ib >' | |
| 7 'Broken ros-melodic-catkin:amd64 Depends on python-catkin-pkg:amd64 < none | 0.4.19-100 @un uH > (> 0.4.3)' | |
| 8 ' Considering python-catkin-pkg:amd64 1 as a solution to ros-melodic-catkin:amd64 10033' | |
| 9 ' Re-Instated tzdata:amd64' |
JeroenDM
/ descartes_build_error_kinetic.md
Last active
June 21, 2018 15:48
Complete build error for issue #226
jeroendm@laptop-jeroen:~/ros/ws_descartes$ catkin build
--------------------------------------------------------------------
Profile: default
Extending: [env] /opt/ros/kinetic
Workspace: /home/jeroendm/ros/ws_descartes
--------------------------------------------------------------------
Source Space: [exists] /home/jeroendm/ros/ws_descartes/src
Log Space: [missing] /home/jeroendm/ros/ws_descartes/logs
Build Space: [exists] /home/jeroendm/ros/ws_descartes/build
JeroenDM
/ moveit-tutorials-build-error
Created
March 21, 2018 09:32
Error after running catking build command as explained in the tutorial: http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/move_group_interface_tutorial.html
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| ~catkin build | |
| --------------------------------------------------------------- | |
| Profile: default | |
| Extending: [explicit] /opt/ros/kinetic | |
| Workspace: /home/jeroen/ros/catkin_ws | |
| --------------------------------------------------------------- | |
| Source Space: [exists] /home/jeroen/ros/catkin_ws/src | |
| Log Space: [missing] /home/jeroen/ros/catkin_ws/logs | |
| Build Space: [exists] /home/jeroen/ros/catkin_ws/build | |
| Devel Space: [exists] /home/jeroen/ros/catkin_ws/devel |
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