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tesseract-robotics / trajopt

Trajectory Optimization Motion Planner for ROS
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TrajOpt Ifopt unit test fails on Ubuntu 22.04 #364

Closed Levi-Armstrong closed 7 months ago

Levi-Armstrong commented 7 months ago

@rjoomen Would you be able to take a look at why the unit test is failing on 22.04?

rjoomen commented 7 months ago

Sure, I have time to look into it this Friday

rjoomen commented 7 months ago

I'm not sure, all I could find so far was that the first solve step already produces differences in the new_approx values for two of the orientational components of the cartesian position constraint. After the first two steps in the image below, the solver starts failing on 22.04. image

rjoomen commented 7 months ago

But maybe interesting is that changing the orientation to (numerical_ik_unit.cpp:97): 

target_pose.linear() = Eigen::Quaterniond(0.000001, 0.000001, 1, 0.000001).toRotationMatrix();

makes the solver also fail on 20.04.

Levi-Armstrong commented 7 months ago

I did a little digging and you can see that both fail with unfeasible error, but Jammy prints a console bridge error which means somethings is different. In the focal version it increases the trust region while the jammy version decreases.

Focal: focal

Jammy: Jammy

Levi-Armstrong commented 7 months ago

Addressed by #366