⚠️ This repository was an early precursor to elion, and I don't recommend using this repository. The final implementation will hopefully be merged into MoveIt, see this pull request.

Constrained planning plugin for MoveIt, using OMPL

This repository is supposed to become an MVP to validate that we can use the constrained planning stuff in OMPL through a simple interface. I'm not sure if it will work.

Setting up the workspace

The usual way of creating a new ROS workspace and cloning this repository in it should work:

mkdir -p catkin_ws/src
cd catkin_ws/src/
git clone https://github.com/JeroenDM/moveit_constrained_planning_plugin.git
rosdep install --from-paths . --ignore-src
cd ..
caktin build

Note: I think I removed all dependencies that rosdep cannot install. However I have used several unreleased dependencies in the past to to some testing. These are:

• rviz_tools_py
• benchmark_planning_setups
• kuka_experimental
• nexon

Running the examples

Panda robot

Most of the examples use the panda_moveit_config robot. You can find the specific settings that go with a robot at the top of a source file:

const std::string FIXED_FRAME = "panda_link0";
const std::string PLANNING_GROUP = "panda_arm";

Launching the MoveIt interface for the corresponding robot and running the example should work:

roslaunch panda_moveit_config demo.launch

and run the specific example node, for example this one to test the planning plugin:

rosrun planning_plugin_examples compl_planner_example

or this one to run some Jacobian calculation experiments:

rosrun planning_plugin_examples try_jacobian_projection

ABB irb6640 (or other 6 dof industrial robots)

try_jacobian_projection should also work for other robots. However, you need to specify the planning group and fixed frame at the top of the code. For most industrial robot configurations, these names are the default:

const std::string FIXED_FRAME = "world";
const std::string PLANNING_GROUP = "manipulator";

With this adjusted and rebuilding the workspace, we can run the example:

 roslaunch abb_irb6640_moveit_config demo.launch

and in another terminal:

rosrun planning_plugin_examples try_jacobian_projection

To visualize the projection motion, add a RobotState display to Rviz:

Note: compl_planner_example implements a planning example that is specific to the Panda robot and therefore will not work with other robots.

Implementation notes

I would like to separate the MoveIt and OMPL code as much as possible. So someone who understands MoveIt but not OMPL can understand the MoveIt part and visa versa.

The structure of this code is shown below. Note that the base class for constraints currently is PositionConstraint, the class COMPLConstraint does not exist yet.

TODO

• Use Eigen::Isometry::linear() instead of Eigen::Isometry3d::rotation() whenever possible. This is more efficient (and can be used when the rotation matrix is known to be valid?).