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tesseract-robotics / trajopt

Trajectory Optimization Motion Planner for ROS
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ROS release? #300

Open simonschmeisser opened 1 year ago

simonschmeisser commented 1 year ago

I'm currently spending some time on integrating trajopt as a MoveIt planner and was wondering if there are plans for a release to the ros noetic build farm? I have seen tesseract has been released already.

simonschmeisser commented 1 year ago

https://github.com/ros-planning/moveit/pull/3235 is my WIP branch for adding collision terms

Levi-Armstrong commented 1 year ago

It would probably be easier and quicker to write a moveit planner plugin which wraps tesseract. The performance will not be good if using moveit collision checking.

simonschmeisser commented 1 year ago

Yes that's another attractive approach, I'll try to implement that as well to see if I can reproduce your collision checking performance plot (or do you have the source somewhere?)

(tesseract_planning has not been released either, right?)

Levi-Armstrong commented 1 year ago

It is not, mostly because some of the dependencies are not release like osqp. I reached out to @esteve to see about being added as maintainer to fix the issue. I think after this is release it should be possilble to release tesseract_planning and tesseract_ros.

simonschmeisser commented 1 year ago

Hi Levi, if I understood things correctly osqp has been released in the mean time?

Levi-Armstrong commented 1 year ago

I believe so.

simonschmeisser commented 1 year ago

friendly ping :smiley: