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Add AnytimePathShortening to ada_moveit #50

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Add AnytimePathShortening to ada_moveit #50

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9bd50ec
Add Anytime Path Shortening
amalnanavati Nov 14, 2024
130109d
Tune parameters
amalnanavati Dec 2, 2024
5ea90f5
Further tune range
amalnanavati Dec 3, 2024
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15 changes: 12 additions & 3 deletions ada_moveit/config/ompl_planning.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,15 @@ request_adapters: >-
default_planner_request_adapters/FixWorkspaceBounds
# Based on Kinova's parameters: https://github.com/Kinovarobotics/kinova-ros/blob/noetic-devel/kinova_moveit/robot_configs/j2n6s300_moveit_config/config/ompl_planning.yaml
planner_configs:
# NOTE: In practice, MoveIt2 hybridizes and shortcuts by default:
# https://github.com/moveit/moveit2/blob/e7872ebf92146bb80930ec98cf6c181e8384e99c/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp#L81
AnytimePathShortening:
type: geometric::AnytimePathShortening
shortcut: 1 # Attempt to shortcut all new solution paths
hybridize: 1 # Compute hybrid solution trajectories
max_hybrid_paths: 8 # Number of hybrid paths generated per iteration
num_planners: 4 # The number of default planners to use for planning
planners: "RRTConnect[range=0.01]" # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]"
SBLkConfigDefault:
type: geometric::SBL
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
Expand Down Expand Up @@ -39,7 +48,8 @@ planner_configs:
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
RRTConnectkConfigDefault:
type: geometric::RRTConnect
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
intermediate_states: 0 # Whether to add intermediate states to the plan, default 0
range: 0.01 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
RRTstarkConfigDefault:
type: geometric::RRTstar
range: 3.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() (in practice, for ADA, this default is ~7)
Expand All @@ -65,6 +75,7 @@ jaco_arm:
enforce_constrained_state_space: true
projection_evaluator: joints(j2n6s200_joint_1,j2n6s200_joint_2)
planner_configs:
- AnytimePathShortening
- SBLkConfigDefault
- ESTkConfigDefault
- LBKPIECEkConfigDefault
Expand All @@ -77,8 +88,6 @@ jaco_arm:
- PRMkConfigDefault
- PRMstarkConfigDefault
hand:
enforce_constrained_state_space: true
projection_evaluator: joints(j2n6s200_joint_1,j2n6s200_joint_2)
planner_configs:
- SBLkConfigDefault
- ESTkConfigDefault
Expand Down
4 changes: 3 additions & 1 deletion ada_moveit/launch/demo.launch.py
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Expand Up @@ -250,7 +250,9 @@ def generate_launch_description():
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_description, robot_controllers],
arguments=["--ros-args", "--log-level", log_level],
# Commented out the log-level since the joint state publisher logs every joint read
# when on debug level
arguments=["--ros-args"],#, "--log-level", log_level],
)
)

Expand Down