Feature: New POLYLINE command in Pilz planner for space trajectory generation

moveit_planners/pilz_industrial_motion_planner/CMakeLists.txt

@@ -127,6 +127,17 @@ ament_target_dependencies(planning_context_loader_circ
 target_link_libraries(planning_context_loader_circ planning_context_loader_base
                       joint_limits_common trajectory_generation_common)
 
+add_library(
+  planning_context_loader_polyline SHARED
+  src/planning_context_loader_polyline.cpp
+  src/trajectory_generator_polyline.cpp src/velocity_profile_atrap.cpp
+  src/path_polyline_generator.cpp)
+ament_target_dependencies(planning_context_loader_polyline
+                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_link_libraries(
+  planning_context_loader_polyline planning_context_loader_base
+  joint_limits_common trajectory_generation_common)
+
 add_library(sequence_capability SHARED src/move_group_sequence_action.cpp
                                        src/move_group_sequence_service.cpp)
 ament_target_dependencies(sequence_capability ${THIS_PACKAGE_INCLUDE_DEPENDS})
@@ -153,6 +164,7 @@ install(
           planning_context_loader_ptp
           planning_context_loader_lin
           planning_context_loader_circ
+          planning_context_loader_polyline
           command_list_manager
           sequence_capability
           trajectory_generation_common

moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/path_polyline_generator.hpp

@@ -0,0 +1,99 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  Copyright (c) 2025 Aiman Haidar
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include <kdl/path.hpp>
+#include <kdl/path_roundedcomposite.hpp>
+#include <kdl/rotational_interpolation_sa.hpp>
+#include <kdl/utilities/error.h>
+
+#include <memory>
+
+namespace pilz_industrial_motion_planner
+{
+/**
+ * @brief Generator class for KDL::Path_RoundedComposite from different polyline path
+ * representations
+ */
+class PathPolylineGenerator
+{
+public:
+  /**
+   * @brief set the path polyline from waypoints
+   *
+   */
+  static std::unique_ptr<KDL::Path> polylineFromWaypoints(const KDL::Frame& start_pose,
+                                                          const std::vector<KDL::Frame>& waypoints,
+                                                          KDL::RotationalInterpolation* rot_interpo, double smoothness,
+                                                          double eqradius);
+
+  /**
+   * @brief compute the maximum rounding radius from KDL::Path_RoundedComosite
+   * @param waypoints_: waypoints defining the path
+   * @param smoothness: smoothness level [0..1] scaling the maximum blend radius
+   * @return maximum blend radius
+   */
+  static std::vector<KDL::Frame> filterWaypoints(const KDL::Frame& start_pose, const std::vector<KDL::Frame>& waypoints);
+  static double computeBlendRadius(const std::vector<KDL::Frame>& waypoints_, double smoothness);
+  static void checkConsecutiveColinearWaypoints(const KDL::Frame& p1, const KDL::Frame& p2, const KDL::Frame& p3);
+
+private:
+  PathPolylineGenerator(){};  // no instantiation of this helper class!
+
+  static constexpr double MIN_SEGMENT_LENGTH{ 0.2e-3 };
+  static constexpr double MIN_SMOOTHNESS{ 0.01 };
+  static constexpr double MAX_SMOOTHNESS{ 0.99 };
+  static constexpr double MIN_COLINEAR_NORM{ 1e-9 };
+};
+
+class ErrorMotionPlanningColinearConsicutiveWaypoints : public KDL::Error_MotionPlanning
+{
+public:
+  const char* Description() const override
+  {
+    return "Three collinear consecutive waypoints."
+           " A Polyline Path cannot be created.";
+  }
+  int GetType() const override
+  {
+    return ERROR_CODE_COLINEAR_CONSECUTIVE_WAYPOINTS;
+  }  // LCOV_EXCL_LINE
+
+private:
+  static constexpr int ERROR_CODE_COLINEAR_CONSECUTIVE_WAYPOINTS{ 3104 };
+};
+
+}  // namespace pilz_industrial_motion_planner

moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_loader_polyline.hpp

@@ -0,0 +1,69 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  Copyright (c) 2025 Aiman Haidar
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include <pilz_industrial_motion_planner/planning_context_loader.hpp>
+
+#include <moveit/planning_interface/planning_interface.hpp>
+
+namespace pilz_industrial_motion_planner
+{
+/**
+ * @brief Plugin that can generate instances of PlanningContextPolyline.
+ * Generates instances of PlanningContextPolyline.
+ */
+class PlanningContextLoaderPolyline : public PlanningContextLoader
+{
+public:
+  PlanningContextLoaderPolyline();
+  ~PlanningContextLoaderPolyline() override;
+
+  /**
+   * @brief return a instance of
+   * pilz_industrial_motion_planner::PlanningContextPolyline
+   * @param planning_context returned context
+   * @param name
+   * @param group
+   * @return true on success, false otherwise
+   */
+  bool loadContext(planning_interface::PlanningContextPtr& planning_context, const std::string& name,
+                   const std::string& group) const override;
+};
+
+typedef std::shared_ptr<PlanningContextLoaderPolyline> PlanningContextLoaderPolylinePtr;
+typedef std::shared_ptr<const PlanningContextLoaderPolyline> PlanningContextLoaderPolylineConstPtr;
+
+}  // namespace pilz_industrial_motion_planner

moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_polyline.hpp

@@ -0,0 +1,69 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  Copyright (c) 2025 Aiman Haidar
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include <pilz_industrial_motion_planner/limits_container.hpp>
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <moveit/planning_interface/planning_interface.hpp>
+#include <moveit/planning_interface/planning_response.hpp>
+
+#include <atomic>
+#include <thread>
+
+#include <pilz_industrial_motion_planner/planning_context_base.hpp>
+#include <pilz_industrial_motion_planner/trajectory_generator_polyline.hpp>
+
+namespace pilz_industrial_motion_planner
+{
+MOVEIT_CLASS_FORWARD(PlanningContext);
+
+/**
+ * @brief PlanningContext for obtaining Polyline trajectories
+ */
+class PlanningContextPolyline : public pilz_industrial_motion_planner::PlanningContextBase<TrajectoryGeneratorPolyline>
+{
+public:
+  PlanningContextPolyline(const std::string& name, const std::string& group,
+                          const moveit::core::RobotModelConstPtr& model,
+                          const pilz_industrial_motion_planner::LimitsContainer& limits)
+    : pilz_industrial_motion_planner::PlanningContextBase<TrajectoryGeneratorPolyline>(name, group, model, limits)
+  {
+  }
+};
+
+}  // namespace pilz_industrial_motion_planner

moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generator.hpp

@@ -122,6 +122,7 @@ class TrajectoryGenerator
     std::string link_name;
     Eigen::Isometry3d start_pose;
     Eigen::Isometry3d goal_pose;
+    std::vector<Eigen::Isometry3d> waypoints;
     std::map<std::string, double> start_joint_position;
     std::map<std::string, double> goal_joint_position;
     std::pair<std::string, Eigen::Vector3d> circ_path_point;
@@ -139,6 +140,11 @@ class TrajectoryGenerator
   std::unique_ptr<KDL::VelocityProfile> cartesianTrapVelocityProfile(double max_velocity_scaling_factor,
                                                                      double max_acceleration_scaling_factor,
                                                                      const std::unique_ptr<KDL::Path>& path) const;
+  /**
+   * @brief Set the max cartesian speed from motion request
+   */
+
+  void setMaxCartesianSpeed(const moveit_msgs::msg::MotionPlanRequest& req);
 
 private:
   virtual void cmdSpecificRequestValidation(const planning_interface::MotionPlanRequest& req) const;
@@ -270,6 +276,7 @@ class TrajectoryGenerator
 protected:
   const moveit::core::RobotModelConstPtr robot_model_;
   const pilz_industrial_motion_planner::LimitsContainer planner_limits_;
+  double max_cartesian_speed_;
   static constexpr double MIN_SCALING_FACTOR{ 0.0001 };
   static constexpr double MAX_SCALING_FACTOR{ 1. };
   static constexpr double VELOCITY_TOLERANCE{ 1e-8 };

moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generator_polyline.hpp

@@ -0,0 +1,97 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  Copyright (c) 2025 Aiman Haidar
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include <eigen3/Eigen/Eigen>
+#include <kdl/rotational_interpolation_sa.hpp>
+#include <moveit/planning_scene/planning_scene.hpp>
+
+#include <pilz_industrial_motion_planner/trajectory_generator.hpp>
+#include <pilz_industrial_motion_planner/velocity_profile_atrap.hpp>
+
+namespace pilz_industrial_motion_planner
+{
+// TODO date type of units
+
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(LinTrajectoryConversionFailure, moveit_msgs::msg::MoveItErrorCodes::FAILURE);
+
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(JointNumberMismatch, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(LinInverseForGoalIncalculable, moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoWaypointsSpecified, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
+CREATE_MOVEIT_ERROR_CODE_EXCEPTION(ConsicutiveColinearWaypoints,
+                                   moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
+
+/**
+ * @brief This class implements a polyline trajectory generator in Cartesian
+ * space.
+ * The Cartesian trajetory are based on trapezoid velocity profile.
+ */
+class TrajectoryGeneratorPolyline : public TrajectoryGenerator
+{
+public:
+  /**
+   * @brief Constructor of Polyline Trajectory Generator
+   * @throw TrajectoryGeneratorInvalidLimitsException
+   * @param model: robot model
+   * @param planner_limits: limits in joint and Cartesian spaces
+   */
+  TrajectoryGeneratorPolyline(const moveit::core::RobotModelConstPtr& robot_model,
+                              const pilz_industrial_motion_planner::LimitsContainer& planner_limits,
+                              const std::string& group_name);
+
+private:
+  void cmdSpecificRequestValidation(const planning_interface::MotionPlanRequest& req) const override;
+
+  void extractMotionPlanInfo(const planning_scene::PlanningSceneConstPtr& scene,
+                             const planning_interface::MotionPlanRequest& req, MotionPlanInfo& info) const final;
+
+  void plan(const planning_scene::PlanningSceneConstPtr& scene, const planning_interface::MotionPlanRequest& req,
+            const MotionPlanInfo& plan_info, double sampling_time,
+            trajectory_msgs::msg::JointTrajectory& joint_trajectory) override;
+
+  /**
+   * @brief construct a KDL::Path object for a Cartesian polyline path
+   * @param start_pose: start pose of the path
+   * @param waypoints: waypoints defining the path
+   * @param smoothness_level: smoothness level for blending the waypoints
+   * @return a unique pointer of the path object. null_ptr in case of an error.
+   */
+  std::unique_ptr<KDL::Path> setPathPolyline(const Eigen::Affine3d& start_pose,
+                                             const std::vector<Eigen::Isometry3d>& waypoints,
+                                             double smoothness_level) const;
+};
+
+}  // namespace pilz_industrial_motion_planner