Ruckig-smoothing : reduce number of duration extensions #1990
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moveit_core/trajectory_processing/src/ruckig_traj_smoothing.cpp
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moveit_core/trajectory_processing/src/ruckig_traj_smoothing.cpp
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Codecov ReportPatch coverage:
Additional details and impacted files@@ Coverage Diff @@
## main #1990 +/- ##
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+ Coverage 50.88% 50.89% +0.01%
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Files 374 374
Lines 31356 31355 -1
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+ Hits 15953 15954 +1
+ Misses 15403 15401 -2
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We'll likely need to rebase this PR on #1963. It already got merged into MoveIt1 and is just waiting for MoveIt 2. No big deal, but it breaks this trajectory extension stuff out into a new function and fixes some small bugs. If you want, you could close this PR and open a new one based on that branch now ( |
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If there are no issues in continuing with this PR and rebasing later, will be good to continue in this one. |
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Hi @AndyZe , Apologies for pinging you while you are in travel. Do you happen to have any specific test cases that fail the smoothing and trigger duration extension? |
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Great question! The test here has duration extension: https://github.com/ros-planning/moveit2/blob/56f200fd34e64c4304ad8d550318de7d327e3644/moveit_core/trajectory_processing/test/test_ruckig_traj_smoothing.cpp#L106 BTW, I'm sorry that it will be a little pain but I really think you should rebase on #1963. The more I think about it, the more I realize it fixes some other bugs related to this PR. You could even close this PR and start with a brand new one. |
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It should include the changes from |
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Might be better to close this one and open new. |
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@ibrahiminfinite #1963 has been merged into |
Thanks ! , will do that. |
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Thankyou for your guidance ! |
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The humble-ci workflow failure seems to be from ompl planning_context_manager. |
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Nope, nothing to do with this PR. |
moveit_core/trajectory_processing/src/ruckig_traj_smoothing.cpp
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Increase priority for constrained planning state space (moveit#1300) * Change priority for the constrained planning state space * Fix constrained planning tests * Use PRM instead of RRTConnect --------- Co-authored-by: Sebastian Jahr <[email protected]> Remove "new" from smart pointer instantiation (moveit#2019) Temporarily disable TestPathConstraints with the Panda robot (moveit#2016) This test has become flaky since it was modified to use the OMPL constrained state space (moveit#2015). Fix mimic joints with TOTG (moveit#1989) Fix include install destination (moveit#2008) Co-authored-by: Henning Kayser <[email protected]> Co-authored-by: Tyler Weaver <[email protected]> Ruckig-smoothing : reduce number of duration extensions (moveit#1990) * extend duration only for failed segment * update comment * Remove trajectory reset before extension * readability improvement * Remove call to RobotState update --------- Co-authored-by: ibrahiminfinite <ibrahimjkd@@gmail.com> Co-authored-by: AndyZe <[email protected]> Add stale GHA (moveit#2022) * Issues and PRs are labeled as stale after 45 days. * Stale issues are closed after another 45 days. Enable workflow_dispatch for stale GHA Remove invalid description field in GHA Add callback for velocity scaling override + fix params namespace not being set (moveit#2021) Fix python tests (moveit#1979) * ensure joint models in robot_model submodule * add build tests Upgrade apt dependencies --with-new-pkgs (moveit#2039) 2.7.1 🛠️ Bump actions/stale from 7 to 8 (moveit#2037) Allow ci-testing Dockerfile to update the ROS_DISTRO (moveit#2035) Move displaced launch file into planning_component_tools (moveit#2044) Delete the Ruckig "batches" option, deprecated by moveit#1990 (moveit#2028) Added set_robot_trajectory_msg to python bindings (moveit#2050) Use $DISPLAY rather than assuming :0 (moveit#2049) * Use $DISPLAY rather than assuming : * Double quotes --------- Co-authored-by: Sebastian Jahr <[email protected]> Optionally mitigate Ruckig overshoot (moveit#2051) * Optionally mitigate Ruckig overshoot * Cleanup Update description of moveit_ros_planning_interface (moveit#2045) * Update description of moveit_ros_planning_interface * Update moveit_ros/planning_interface/package.xml Co-authored-by: Henning Kayser <[email protected]> --------- Co-authored-by: Henning Kayser <[email protected]> Add URDF Loader Exceptions and Fix Infinite While-Loop when URDF file isn't in a ROS Package (moveit#2032) * Fixed infinite while loop in utilities.cpp and added some exception handling to start screen widget * Fix trailing whitespace, fix getSharePath exception catch on empty request * Fix clang tidy suggestion and error message updates based on pr comments [hybrid planning] improve planning scene monitoring (moveit#1090) * Create new PSM in local constraint solver. Different type of collision checking. * Small boolean logic fixup * Don't configure planning scene monitor twice and pass scene as const * Remove not required call of updateSceneWithCurrentState() * Revert PlanningSceneMonitorConstPtr to PlanningSceneMonitorPtr * Set planning_scene_monitor update rate * Decrease planning scene update rate * Use `updateSceneWithCurrentState()` in psm * Revert the manner of collision checking --------- Co-authored-by: Sebastian Jahr <[email protected]> Document how collision checking includes descendent links (moveit#2058) Move stateless PlanningScene helper functions out of the class (moveit#2025) Readability: kinematic_state -> robot_state (moveit#2078) moveit_py citation (moveit#2029) Extract parallel planning from moveit cpp (moveit#2043) * Add parallel_planning_interface * Add parallel planning interface * Rename package to pipeline_planning_interface * Move plan_responses_container into own header + source file * Add plan_responses_contrainer source file * Add solution selection and stopping criterion function files * Remove parallel planning from moveit_cpp * Move parallel planning into planning package * Update moveit_cpp * Drop planning_interface changes * Add documentation * Update other moveit packages * Remove removed header * Address CI complains * Address clang-tidy complains * Address clang-tidy complains 2 * Address clang-tidy complains 3 * Extract planning pipeline map creation function from moveit_cpp * Cleanup comment * Use const moveit::core::RobotModelConstPtr& * Formatting * Add header descriptions * Remove superfluous TODOs * Cleanup PILZ: Throw if IK solver doesn't exist (moveit#2082) * Throw if IK solver doesn't exist * Format enabled -wformat (moveit#2065) Co-authored-by: Sebastian Jahr <[email protected]> Add test and debug issue where TOTG returns accels > limit (moveit#2084) lint fix lint fix 1 lint fix 2 lint fix 3
Description
Enhancement to extent the waypoint durations for only the failing waypoints.
Fixes #1966
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