Kinematic Trajectory Optimization Skeleton PR

moveit / moveit_drake

Experimental repository for Moveit2 - Drake integration

BSD 3-Clause "New" or "Revised" License

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Kinematic Trajectory Optimization Skeleton PR #8

Closed kamiradi closed 1 week ago

kamiradi commented 3 weeks ago

This PR aims to transcribe a basic Kinematic Trajectory Optimization problem from Moveit to Drake

[x] Overload the PlannerManager class
[x] Overload the PlanningContext class
[x] Implement a ktopt_interface class

Implement an example demo to test and integrate the above classes PS: this is a draft, and the work may be split over a sequence of PRs

sea-bass commented 3 weeks ago

Made more updates to the Dockerfile. Now I can do:

docker compose build
docker compose run moveit
$ colcon build --packages-select moveit_drake
Run the demo

And there are still no moveit apt packages installed. Ever! No need to remove any extra ones either :)

sea-bass commented 2 weeks ago

@sea-bass, I see that you have added the relevant bits to report the motion plan response. Were you able to test this on the demo?

I was, but it's far from complete. There are no actual costs/constraints added, and the Drake trajectory needs to be converted to a MoveIt RobotTrajectory ans packed up into the result.

sjahr commented 2 weeks ago

@kamiradi Can you ping when you addressed all comments for another review round? You can resolve the conversation you addressed and comment on the ones where you might be unsure/ have questions or commetns

kamiradi commented 1 week ago

@sjahr, I remember you pointing me towards a specific yaml file that needs to have a _planning suffix to be loaded by the class loader. Could you point me towards an example? I believe this is needed for the drake planning plugin to be loaded during runtime.

sjahr commented 1 week ago

@sjahr, I remember you pointing me towards a specific yaml file that needs to have a _planning suffix to be loaded by the class loader. Could you point me towards an example? I believe this is needed for the drake planning plugin to be loaded during runtime.

@kamiradi The file is specified per moveit config, for example in panda_moveit_config for stomp: https://github.com/moveit/moveit_resources/blob/ros2/panda_moveit_config/config/stomp_planning.yaml

The content is equivalent with the section you've added to the launch file and either the yaml file or the launch file section can be used (although the .yaml file is best practices for fleshed out plugins).

kamiradi commented 1 week ago

Ah I see, so this is an alternative to the launch file config mentioned in the launch file. Is there a runtime requirement for the yaml file also to be present? Can I defer this to the next PR?

So the requirement now is to:

Declare a similar ktopt_planning.yaml file (where should I be doing this? should I create a new config folder within the repository?)
And the class loader automagically loads this at runtime.