This PR relies on a custom version of Descartes. This is reflected by the updated rosinstall file.
Essentially, this PR is a first step along the path toward updating our whole motion planning pipeline.
Motion planning now works as follows:
For the process path, build a graph of valid joint solutions and transitions
For every point in the first 'row', the possible starting configurations, estimate a cost to get to them
Seed a graph search with this estimated cost.
Extract the minimum path.
Check the joint interpolated solution and then call moveit if needed to get from and to the path.
I also throw in some extra checks to make sure we aren't crashing the robot when Descartes changes configurations. Implemented logic similar to min viable segment length from Moveit.
This is what you've been seeing running the past day or two.
This PR relies on a custom version of Descartes. This is reflected by the updated rosinstall file.
Essentially, this PR is a first step along the path toward updating our whole motion planning pipeline.
Motion planning now works as follows:
I also throw in some extra checks to make sure we aren't crashing the robot when Descartes changes configurations. Implemented logic similar to min viable segment length from Moveit.
This is what you've been seeing running the past day or two.