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tesseract-robotics / trajopt

Trajectory Optimization Motion Planner for ROS
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Expose convex solver settings and set ospq adaptive_rho to default value #285

Closed Levi-Armstrong closed 2 years ago

Levi-Armstrong commented 2 years ago

The adaptive_rho was change because a unit test was failing here but now passes using the default setting indicating that either there was an issue in OSQP or TrajOpt that has been fixed. Have adaptive_rho enable has a signification impact on planning time so it is reverted to default value now that the setting is exposed.

Levi-Armstrong commented 2 years ago

@marrts I made some slight modification to your changes. Thanks for the improvement.

mpowelson commented 2 years ago

Relevant PR when adaptive rho was disabled: https://github.com/tesseract-robotics/trajopt/pull/172

Levi-Armstrong commented 2 years ago

Look reasonable. Someone has run some tests and determined that this is a better default?

Yea both @marrts and myself have seen significant improvement in planning time especially for large problems.

marrts commented 2 years ago

Look reasonable. Someone has run some tests and determined that this is a better default?

Yes, this went from failing from iterations, which I found needed close to 10 million iterations to solving in about 10k iterations. Substantial speed improvement