Allow users to set various cartesian path service parameters #58
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AndrejOrsula
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Apr 4, 2024
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Awesome! Thank you very much for your contribution @amalnanavati!
AndrejOrsula
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May 10, 2024
* Added ability to have cartesian planning calls avoid collisions * Fix bad merge * Allow users to set cartesian jump threshold * Allow users to set cartesian max step * Pass frame_id into the cartesian planning service * Add ability to specify a required fraction for a cartesian plan to succeed * Allowed users to get end effector name and base link name * Add revolute and prismatic jump thresholds * Formatting * Added test cases
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Description
The PR adds various parameters that allow users to control the behavior of cartesian planning. This includes:
avoid_collisions,jump_threshold,prismatic_jump_threshold, andrevolute_jump_thresholdattributes of the cartesian path service call.max_stepfrom_plan_async(…)Note that unfortunately, MoveIt2’s ROS interface does not currently support revolute or prismatic jump thresholds.
Testing
ros2 launch panda_moveit_config ex_fake_control.launch.pymax_step:ros2 run pymoveit2 ex_pose_goal.py --ros-args -p position:="[0.573, 0.000, 0.488]" -p quat_xyzw:="[1.000, -0.000, 0.001, -0.000]" -p cartesian:=True, verify it succeedsros2 run pymoveit2 ex_joint_goal.py --ros-args -p joint_positions:="[0.0, -0.7853981633974483, 0.0, -2.356194490192345, 0.0, 1.5707963267948966, 0.7853981633974483]"ros2 run pymoveit2 ex_pose_goal.py --ros-args -p position:="[0.573, 0.000, 0.488]" -p quat_xyzw:="[1.000, -0.000, 0.001, -0.000]" -p cartesian:=True -p cartesian_max_step:=0.0, verify it failsros2 run pymoveit2 ex_pose_goal.py --ros-args -p position:="[0.573, 0.000, 0.488]" -p quat_xyzw:="[1.000, -0.000, 0.001, -0.000]" -p cartesian:=True -p cartesian_max_step:=0.3, verify it succeedscartesian_jump_threshold:ros2 run pymoveit2 ex_pose_goal.py --ros-args -p position:="[0.573, 0.000, 0.488]" -p quat_xyzw:="[1.000, -0.000, 0.001, -0.000]" -p cartesian:=True -p cartesian_jump_threshold:=0.001, verify that the planning/execution call succeeds but the arm does not actually move.ros2 run pymoveit2 ex_pose_goal.py --ros-args -p position:="[0.573, 0.000, 0.488]" -p quat_xyzw:="[1.000, -0.000, 0.001, -0.000]" -p cartesian:=True -p cartesian_jump_threshold:=1.0, verify that it gets almost to the goal but not quite.ros2 run pymoveit2 ex_pose_goal.py --ros-args -p position:="[0.573, 0.000, 0.488]" -p quat_xyzw:="[1.000, -0.000, 0.001, -0.000]" -p cartesian:=True -p cartesian_jump_threshold:=2.0, verify that it gets to the goal.cartesian_fraction_threshold:ros2 run pymoveit2 ex_pose_goal.py --ros-args -p position:="[0.573, 0.000, 0.488]" -p quat_xyzw:="[1.000, -0.000, 0.001, -0.000]" -p cartesian:=True -p cartesian_fraction_threshold:=1.0, verify it succeedsros2 run pymoveit2 ex_pose_goal.py --ros-args -p position:="[0.573, 0.000, 0.488]" -p quat_xyzw:="[1.000, -0.000, 0.001, -0.000]" -p cartesian:=True -p cartesian_jump_threshold:=1.0 -p cartesian_fraction_threshold:=1.0, verify it failsros2 run pymoveit2 ex_pose_goal.py --ros-args -p position:="[0.573, 0.000, 0.488]" -p quat_xyzw:="[1.000, -0.000, 0.001, -0.000]" -p cartesian:=True -p cartesian_fraction_threshold:=1.1, verify it failscartesian_avoid_collisions:ros2 run pymoveit2 ex_pose_goal.py --ros-args -p position:="[0.573, 0.000, 0.488]" -p quat_xyzw:="[1.000, -0.000, 0.001, -0.000]" -p cartesian:=True -p cartesian_avoid_collisions:=True, verify it succeedsros2 run pymoveit2 ex_collision_primitive.py --ros-args -p shape:="sphere" -p position:="[0.573, 0.000, 0.488]" -p dimensions:="[0.04]"ros2 run pymoveit2 ex_pose_goal.py --ros-args -p position:="[0.573, 0.000, 0.488]" -p quat_xyzw:="[1.000, -0.000, 0.001, -0.000]" -p cartesian:=True -p cartesian_avoid_collisions:=True, verify it stops before the collisionros2 run pymoveit2 ex_pose_goal.py --ros-args -p position:="[0.573, 0.000, 0.488]" -p quat_xyzw:="[1.000, -0.000, 0.001, -0.000]" -p cartesian:=True -p cartesian_avoid_collisions:=False, verify it goes all the way to the goal, ignoring the collision.