subframe test; error: link not found in model

[emielke12]

Description

See #3139. This contains a new subframe test that looks at planning using move_group.computeCartesianPath. Subframes are not resolving in this planner.

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[welcome]

Thanks for helping in improving MoveIt and open source robotics!

[codecov]

Codecov Report

Merging #3143 (f1806a7) into master (3cbcbad) will decrease coverage by 0.11%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##           master    #3143      +/-   ##
==========================================
- Coverage   61.66%   61.55%   -0.10%     
==========================================
  Files         376      376              
  Lines       33314    33314              
==========================================
- Hits        20540    20504      -36     
- Misses      12774    12810      +36     

Impacted Files	Coverage Δ
...raint_samplers/src/default_constraint_samplers.cpp	76.31% <0.00%> (-3.75%)	⬇️
moveit_core/kinematic_constraints/src/utils.cpp	28.21% <0.00%> (-3.52%)	⬇️
...e/src/parameterization/model_based_state_space.cpp	68.33% <0.00%> (-3.10%)	⬇️
...oveit/kinematic_constraints/kinematic_constraint.h	93.68% <0.00%> (-2.53%)	⬇️
moveit_core/robot_model/src/joint_model_group.cpp	61.87% <0.00%> (-2.27%)	⬇️
moveit_core/collision_detection/src/world.cpp	88.59% <0.00%> (-1.63%)	⬇️
moveit_core/planning_scene/src/planning_scene.cpp	64.56% <0.00%> (-0.32%)	⬇️
...nning_scene_monitor/src/planning_scene_monitor.cpp	66.35% <0.00%> (-0.12%)	⬇️
.../move_group_interface/src/move_group_interface.cpp	47.83% <0.00%> (+0.18%)	⬆️
...ipulation/pick_place/src/manipulation_pipeline.cpp	74.39% <0.00%> (+0.83%)	⬆️
... and 2 more

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[felixvd]

Thanks. I didn't get around to responding to your ROS Answers questions (where you should cross-link these posts).

As you can see in the original PR #1439, this was not implemented for computeCartesianPath because it interpolates between the joint poses directly, without using planning adapters (the subframes are resolved in an adapter). Using the LIN motion of the Pilz Industrial Motion Planner instead should work.

[rhaschke]

I was afraid of that @felixvd. As people obviously kind of expect that subframe resolution works everywhere, should we replace the adapter plugin with a corresponding hard-coded call to resolve subframes wherever applicable?
@v4hn, @davetcoleman: opinions?

[v4hn]

yes, the adapter was not a good choice for this resolution I guess. 🤔

[emielke12]

@felixvd Thanks for the clarification. In the meantime, I will see where I can get to with the pilz_industrial_motion_planner

[emielke12]

Attempting to use pilz industrial motion planner gets me a similar error:

No IK solver available for link:

Planning using the default tool frame works just fine.

[genkv]

should we replace the adapter plugin with a corresponding hard-coded call to resolve subframes wherever applicable?

Hello @rhaschke , just wondering if there's any update on this? I'm also trying to accomplish the same thing -- computeCartesianPath for a subframe by multiple waypoints. As of the latest code, it won't allow me to do so because subframe (of an attached object) is not part of the robot. Is there any open PR that enables computeCartesianPath to resolve subframes, or should I switch to using pilz_industrial_motion_planner? Thanks

[genkv]

should we replace the adapter plugin with a corresponding hard-coded call to resolve subframes wherever applicable?

Hello @rhaschke , just wondering if there's any update on this? I'm also trying to accomplish the same thing -- computeCartesianPath for a subframe by multiple waypoints. As of the latest code, it won't allow me to do so because subframe (of an attached object) is not part of the robot. Is there any open PR that enables computeCartesianPath to resolve subframes, or should I switch to using pilz_industrial_motion_planner? Thanks

Reply to self:

Using pilz industrial motion planner, I have implemented a way to resolve a series of waypoints for any subframe. The amount of engineering work needed in implementing this is a bit more than I expected, but it's been a good learning experience to me nevertheless.