Enable parallel planning with PipelinePlanner #450

sjahr · 2023-03-30T19:09:49Z

This PR refactors the PipelinePlanner to enable the use of MoveIt's parallel planning API. Usage would look for example like this

  // Configure a set of pipelines to be used
  std::unordered_map<std::string, std::string> pipeline_id_planner_id_map;
  pipeline_id_planner_id_map["ompl"] = "RRTConnectkConfigDefault";
  pipeline_id_planner_id_map["pilz_industrial_motion_planner"] = "LIN";
  pipeline_id_planner_id_map["chomp"] = "chomp";

  // Construct solver
  auto parallel_planner = std::make_shared<mtc::solvers::PipelinePlanner>(node_, pipeline_id_planner_id_map);
  
  // Optional: Configure custom solution selection and/or stopping criterion
  parallel_planner->setStoppingCriterionFunction(...);
  parallel_planner->setSolutionSelectionFunction(
      [](const std::vector<::planning_interface::MotionPlanResponse>& solutions) {...});

You can test the PR by using my fork of the moveit2_tutorials. Build the custom MTC and moveit2_tutorials branch and run in two terminal windows:

ros2 launch moveit2_tutorials mtc_demo.launch.py
ros2 launch moveit2_tutorials pick_place_demo.launch.py

rhaschke · 2023-03-30T19:24:23Z

Have a look at #429, which provides parallel planning functionality not only including pipeline planners but also joint interpolation and Cartesian interpolation.

sjahr · 2023-03-31T16:24:02Z

Have a look at #429, which provides parallel planning functionality not only including pipeline planners but also joint interpolation and Cartesian interpolation.

Cool! I was not aware of this. As I understand it, it is still different from the proposed Parallel Planning solver as you can not customize stopping and solution selection criteria and the MultiPlanner is capable of using multiple MTC solvers at the same time. So I'd see both as alternatives.

rhaschke · 2023-03-31T16:38:24Z

That's true. The MultiPlanner defines a sequence of planning alternatives that are tried one after the other, while parallel planning considers all alternatives in parallel. Would it be possible to apply the same approach as in MultiPlanner to realize your goal? This would allow to include joint-space and Cartesian-space interpolation planners as alternatives as well.

By the way, a stopping criterium might be useful for the existing sequential MultiPlanner as well - to continue planning if the criterium (e.g. smoothness) is not yet satisfied.

What about the new names FallbacksPlanner and AlternativesPlanner to emphasize the similarity to the corresponding parallel containers?

sjahr · 2023-04-03T06:07:59Z

That's true. The MultiPlanner defines a sequence of planning alternatives that are tried one after the other, while parallel planning considers all alternatives in parallel. Would it be possible to apply the same approach as in MultiPlanner to realize your goal? This would allow to include joint-space and Cartesian-space interpolation planners as alternatives as well.

By the way, a stopping criterium might be useful for the existing sequential MultiPlanner as well - to continue planning if the criterium (e.g. smoothness) is not yet satisfied.

What about the new names FallbacksPlanner and AlternativesPlanner to emphasize the similarity to the corresponding parallel containers?

That's a good idea 👍 I'll do that and use this chance to port the MultiPlanner over to the ros2 branch and rename it

codecov · 2023-04-05T07:48:54Z

Codecov Report

Attention: 16 lines in your changes are missing coverage. Please review.

Comparison is base (0ba9796) 41.67% compared to head (8d8006e) 42.71%.

Additional details and impacted files

@@            Coverage Diff             @@
##             ros2     #450      +/-   ##
==========================================
+ Coverage   41.67%   42.71%   +1.04%     
==========================================
  Files          79       80       +1     
  Lines        7939     7945       +6     
==========================================
+ Hits         3308     3393      +85     
+ Misses       4631     4552      -79

Files	Coverage Δ
...moveit/task_constructor/solvers/pipeline_planner.h	`100.00% <100.00%> (ø)`
core/src/solvers/pipeline_planner.cpp	`78.51% <83.16%> (+78.51%)`	⬆️

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sea-bass

Looking good! I have a few minor comments.

I tried your tutorial fork and it works, but the placement pose doesn't seem correct. However, also seems to look like that on main, so I don't think it's a problem with this branch.

2023-04-13.07-47-18.mp4

core/src/solvers/pipeline_planner.cpp

core/include/moveit/task_constructor/solvers/pipeline_planner.h

core/src/solvers/pipeline_planner.cpp

rhaschke · 2023-04-14T08:54:24Z

As stated in #451 (comment), I don't see added value in this PR in addition to #451. Before you put more effort into this, we should agree on the general route...

sjahr · 2023-04-14T09:39:17Z

As stated in #451 (comment), I don't see added value in this PR in addition to #451. Before you put more effort into this, we should agree on the general route...

Yes 👍 I answered in the other thread

MarqRazz · 2023-04-14T20:09:49Z

Is this actually planning in parallel? The console output looks suspiciously in series, but maybe that's just the ROS logging framework.

[mtc_tutorial-1] [INFO] [1681497796.624044521] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[mtc_tutorial-1] [INFO] [1681497796.661303311] [moveit.::planning_interface.planning_pipeline_interfaces]: Stopping criterion met: Terminating planning pipelines that are still active
[mtc_tutorial-1] [INFO] [1681497796.684124377] [moveit.pilz_industrial_motion_planner.trajectory_generator]: Generating LIN trajectory...
[mtc_tutorial-1] [INFO] [1681497796.684154697] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm[RRTConnectkConfigDefault]' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[mtc_tutorial-1] [ERROR] [1681497796.684650693] [moveit.pilz_industrial_motion_planner.trajectory_functions]: Joint acceleration limit of panda_joint6 violated. Set the acceleration scaling factor lower! Actual joint acceleration is 5.1937, while the limit is 5. 
[mtc_tutorial-1] [ERROR] [1681497796.684675490] [moveit.pilz_industrial_motion_planner.trajectory_functions]: Inverse kinematics solution at 0.2s violates the joint velocity/acceleration/deceleration limits.
[mtc_tutorial-1] [ERROR] [1681497796.684719357] [moveit.pilz_industrial_motion_planner.trajectory_generator]: Failed to generate valid joint trajectory from the Cartesian path
[mtc_tutorial-1] [INFO] [1681497796.831316182] [chomp_planner]: CHOMP trajectory initialized using method: quintic-spline
[mtc_tutorial-1] [INFO] [1681497796.831353964] [chomp_optimizer]: Active collision detector is: HYBRID
[mtc_tutorial-1] [INFO] [1681497796.885109117] [chomp_optimizer]: First coll check took 0.053745 sec
[mtc_tutorial-1] [INFO] [1681497796.897210374] [chomp_optimizer]: Chomp Got mesh to mesh safety at iter 0. Breaking out early.
[mtc_tutorial-1] [INFO] [1681497796.897222659] [chomp_optimizer]: Chomp path is collision free
[mtc_tutorial-1] [INFO] [1681497796.897225003] [chomp_optimizer]: Terminated after 1 iterations, using path from iteration 0
[mtc_tutorial-1] [INFO] [1681497796.897226478] [chomp_optimizer]: Optimization core finished in 0.004804 sec
[mtc_tutorial-1] [INFO] [1681497796.897228978] [chomp_optimizer]: Time per iteration 0.004806 sec
[mtc_tutorial-1] [INFO] [1681497798.548378078] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[mtc_tutorial-1] [INFO] [1681497798.589949033] [moveit.::planning_interface.planning_pipeline_interfaces]: Stopping criterion met: Terminating planning pipelines that are still active
[mtc_tutorial-1] [INFO] [1681497798.726495083] [moveit.pilz_industrial_motion_planner.trajectory_generator]: Generating LIN trajectory...
[mtc_tutorial-1] [INFO] [1681497798.726616093] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm[RRTConnectkConfigDefault]' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[mtc_tutorial-1] Length of solution for planner: 'LIN' is -1'
[mtc_tutorial-1] Length of solution for planner: 'RRTConnectkConfigDefault' is 6.14397'
[mtc_tutorial-1] Length of solution for planner: 'chomp' is 6.14404'

Why are we getting the message

Stopping criterion met: Terminating planning pipelines that are still active

when we have Omitted default stopping criterion and allow all pipelines to use the full budget?

sjahr · 2023-04-17T07:53:28Z

Is this actually planning in parallel?

It's the ROS logging. Look at the first two lines, PILZ and OMPL logging are interwoven which wouldn't be the case if it is sequential:

[mtc_tutorial-1] [INFO] [1681497796.624044521] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[mtc_tutorial-1] [INFO] [1681497796.661303311] [moveit.::planning_interface.planning_pipeline_interfaces]: Stopping criterion met: Terminating planning pipelines that are still active
[mtc_tutorial-1] [INFO] [1681497796.684124377] [moveit.pilz_industrial_motion_planner.trajectory_generator]: Generating LIN trajectory...
[mtc_tutorial-1] [INFO] [1681497796.684154697] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm[RRTConnectkConfigDefault]' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.

Why are we getting the message

I fixed that, the parallel_planning_solver worked fine but the sampling_solver uses the parallel planning interface with a single pipeline. The previously configured default stopping criteria was met by that planner (which doesn't have any effect since it is a single pipeline anyways). I updated the default, so this doesn't happen anymore

commit 8e2c560 Author: Sebastian Jahr <sebastian.jahr@picknik.ai> Date: Mon Apr 17 09:49:51 2023 +0200 Use no default stopping criteria commit d095f7f Author: Sebastian Jahr <sebastian.jahr@picknik.ai> Date: Fri Apr 14 12:20:44 2023 +0200 Refactor to avoid calling .at(0) twice commit 4238dc3 Author: Sebastian Jahr <sebastian.jahr@picknik.ai> Date: Fri Apr 14 12:10:45 2023 +0200 Format commit 2c74526 Author: Sebastian Jahr <sebastian.jahr@tuta.io> Date: Fri Apr 14 10:39:26 2023 +0200 Update core/src/solvers/pipeline_planner.cpp commit f06a93c Author: Sebastian Jahr <sebastian.jahr@tuta.io> Date: Fri Apr 14 10:34:02 2023 +0200 Update core/src/solvers/pipeline_planner.cpp Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> commit 168cbd5 Author: Sebastian Jahr <sebastian.jahr@picknik.ai> Date: Tue Apr 11 11:14:19 2023 +0200 Small clang-tidy fix commit c0ea5cd Author: Sebastian Jahr <sebastian.jahr@picknik.ai> Date: Thu Apr 6 10:34:20 2023 +0200 Pass pipeline map by reference commit 9be2ab3 Author: Sebastian Jahr <sebastian.jahr@picknik.ai> Date: Fri Mar 31 17:55:58 2023 +0200 Add API to set parallel planning callbacks and deprecate functions commit 132235f Author: Sebastian Jahr <sebastian.jahr@picknik.ai> Date: Thu Mar 30 20:18:50 2023 +0200 Cleanup and documentation commit 7dd2743 Author: Sebastian Jahr <sebastian.jahr@picknik.ai> Date: Thu Mar 30 17:12:44 2023 +0200 Add callbacks commit f050adb Author: Sebastian Jahr <sebastian.jahr@picknik.ai> Date: Thu Mar 30 16:00:25 2023 +0200 Enable configuring multiple pipelines commit b96992c Author: Sebastian Jahr <sebastian.jahr@picknik.ai> Date: Thu Mar 30 10:29:47 2023 +0200 Make usable with parallel planning commit 2a7234d Author: Sebastian Jahr <sebastian.jahr@picknik.ai> Date: Thu Mar 30 09:47:38 2023 +0200 Re-order plan functions commit 6679c98 Author: Sebastian Jahr <sebastian.jahr@picknik.ai> Date: Tue Mar 28 15:28:02 2023 +0200 Make code readable

henningkayser · 2023-05-16T22:05:30Z

core/include/moveit/task_constructor/solvers/pipeline_planner.h

+	PipelinePlanner(const rclcpp::Node::SharedPtr& node, const std::string& pipeline_name = "ompl",
+	                const std::string& planner_id = "");
+
+	[[deprecated("Deprecated: Use new constructor implementations.")]]  // clang-format off


Would it make sense to extend from PipelinePlanner instead of deprecating the old interface?

With the current implementation, this constructor would be underdefined because to my understanding it is not possible to infer the default planner name from the planning pipeline pointer because that information is hidden inside the planner plugin

henningkayser · 2023-05-16T22:07:40Z

core/include/moveit/task_constructor/solvers/pipeline_planner.h

+	 * \param [in] solution_selection_function Callback function to choose the best solution when multiple pipelines are used
+	 */
+	PipelinePlanner(const rclcpp::Node::SharedPtr& node,
+	                const std::unordered_map<std::string, std::string>& pipeline_id_planner_id_map,


usually, pipelines have default algorithms configured, right? Shouldn't the planner_id map specified per stage, if at all? The properties would be a great place to specify planner ids

I think the planner_id map should be defined because rather than using unconsciously some default algorithm, I think it should be explicitly configured which one is used.
To have an additional property to override this pipeline_id_planner_id_map on the stage level is a good idea. With that it would be possible to use a subset of the defined planner-pipeline pairs. Would this require more work in the stage implementations? If yes, I think this should be follow-up work.

I think the last commit achieves what you requested:
f57e659

core/src/solvers/pipeline_planner.cpp

sea-bass

I noticed these warnings when building moveit_task_constructor_demos with the latest version of MoveIt 2.

#39 1131.7 --- stderr: moveit_task_constructor_demo
#39 1131.7 /opt/underlay_ws/src/moveit_task_constructor/demo/src/fallbacks_move_to.cpp: In lambda function:
#39 1131.7 /opt/underlay_ws/src/moveit_task_constructor/demo/src/fallbacks_move_to.cpp:35:33: warning: ‘void moveit::task_constructor::solvers::PipelinePlanner::setPlannerId(const string&)’ is deprecated: Replaced with setPlannerId(pipeline_name, planner_id) [-Wdeprecated-declarations]
#39 1131.7    35 |                 pp->setPlannerId("PTP");
#39 1131.7       |                 ~~~~~~~~~~~~~~~~^~~~~~~
#39 1131.7 In file included from /opt/underlay_ws/src/moveit_task_constructor/demo/src/fallbacks_move_to.cpp:9:
#39 1131.7 /opt/underlay_ws/install/moveit_task_constructor_core/include/moveit/task_constructor/solvers/pipeline_planner.h:91:14: note: declared here
#39 1131.7    91 |         void setPlannerId(const std::string& /*planner*/) { /* Do nothing */
#39 1131.7       |              ^~~~~~~~~~~~
#39 1131.7 /opt/underlay_ws/src/moveit_task_constructor/demo/src/fallbacks_move_to.cpp: In lambda function:
#39 1131.7 /opt/underlay_ws/src/moveit_task_constructor/demo/src/fallbacks_move_to.cpp:41:33: warning: ‘void moveit::task_constructor::solvers::PipelinePlanner::setPlannerId(const string&)’ is deprecated: Replaced with setPlannerId(pipeline_name, planner_id) [-Wdeprecated-declarations]
#39 1131.7    41 |                 pp->setPlannerId("RRTConnect");
#39 1131.7       |                 ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
#39 1131.7 In file included from /opt/underlay_ws/src/moveit_task_constructor/demo/src/fallbacks_move_to.cpp:9:
#39 1131.7 /opt/underlay_ws/install/moveit_task_constructor_core/include/moveit/task_constructor/solvers/pipeline_planner.h:91:14: note: declared here
#39 1131.7    91 |         void setPlannerId(const std::string& /*planner*/) { /* Do nothing */
#39 1131.7       |              ^~~~~~~~~~~~

So I think this PR should also update those accordingly.

Make code readable Re-order plan functions Make usable with parallel planning Enable configuring multiple pipelines Add callbacks Cleanup and documentation Add API to set parallel planning callbacks and deprecate functions Pass pipeline map by reference Small clang-tidy fix Update core/src/solvers/pipeline_planner.cpp Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> Update core/src/solvers/pipeline_planner.cpp Format Refactor to avoid calling .at(0) twice Use no default stopping criteria Update fallbacks_move demo

sjahr · 2023-09-04T10:43:31Z

@rhaschke @henningkayser Do you mind giving this a review?

sea-bass

LGTM

I still think we should find a way to ensure that PRs to the humble branch run humble CI, but we can handle that in a follow-on PR.

sjahr · 2023-10-04T11:01:03Z

@rhaschke All that is blocking this PR from being merged, is that CI doesn't pass due to low code coverage. I just added a unit test for my changes and it barely increased coverage. Do you have any idea what is missing and/or if this is a problem caused by this PR?

sjahr · 2023-10-04T11:07:05Z

It looks like the diff that is analyzed by code coverage is way bigger than this PR https://app.codecov.io/gh/ros-planning/moveit_task_constructor/pull/450?src=pr&el=continue&utm_medium=referral&utm_source=github&utm_content=checks&utm_campaign=pr+comments&utm_term=ros-planning#ed2ff5abe724fdee9649d476ae045460-R76
the reference head is https://app.codecov.io/gh/ros-planning/moveit_task_constructor/commit/ede7cb71cc302932b6fe427c714b84fa725aeae2 and not the latest of ros2 🤔

sjahr · 2023-10-04T11:21:05Z

The ros2 branch in codev is out-of-date https://app.codecov.io/gh/ros-planning/moveit_task_constructor/tree/ros2

sjahr · 2023-10-04T12:19:08Z

The ros2 branch in codev is out-of-date https://app.codecov.io/gh/ros-planning/moveit_task_constructor/tree/ros2

Looks like re-triggering the CI job for the ros2 branch fixed it

* Refactor pipeline planner Make code readable Re-order plan functions Make usable with parallel planning Enable configuring multiple pipelines Add callbacks Cleanup and documentation Add API to set parallel planning callbacks and deprecate functions Pass pipeline map by reference Small clang-tidy fix Update core/src/solvers/pipeline_planner.cpp Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> Update core/src/solvers/pipeline_planner.cpp Format Refactor to avoid calling .at(0) twice Use no default stopping criteria Update fallbacks_move demo * Cleanup + address deprecation warnings * Enabling optionally using a property defined pipeline planner map * Address review * Disable humble CI for ros2 branch * Add pipeline planner unittests + some checks * Add short comment

This reverts commit 0e02fca.

sjahr changed the title ~~WIP: Enable parallel planning with PipelinePlanner~~ Enable parallel planning with PipelinePlanner Mar 31, 2023

sjahr marked this pull request as ready for review March 31, 2023 16:13

sjahr assigned henningkayser Mar 31, 2023

sjahr mentioned this pull request Apr 3, 2023

WIP: Alternatives and fallback planners #451

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sjahr mentioned this pull request Jul 19, 2023

Add planner name to trajectory info PickNikRobotics/moveit_task_constructor#5

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Use generate parameters library in PlanningPipelineClass + general cleanups moveit/moveit2#2288

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sjahr added 3 commits September 4, 2023 12:33

Cleanup + address deprecation warnings

8118309

Enabling optionally using a property defined pipeline planner map

f57e659

sjahr force-pushed the pr-add_parallel_planning_solver branch from d6c3ef2 to f57e659 Compare September 4, 2023 10:41

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Add pipeline planner unittests + some checks

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Add short comment

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sjahr merged commit f4cd7d5 into moveit:ros2 Oct 4, 2023
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Merge branch 'cleanup-moveit#450'

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ros2 branch was cleaned up and force-pushed #540

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