Parallel planning example (#551)

* First demo and tests

* Add path length evaluation function

* Add difficult collision object

* Better rviz config

* Reorder experiments

* Fix cart. orientation and add visiual text before each experiment

* Add config for multi-pipeline planning

* Add tutorial description and experiments

* Debug print + disable execution + clear up launch config

* Cleanup config

* Cleanup + RVIZ config

* Change upstream dependency so branch builds

* Adjust to moveit_cpp changes

* Switch back to moveit2 main

* WIP

* Cleanup and fix launch file

* Small demo adjustments

* Write tutorial text

* Bug fixing and cleanups

* Cleanup & use .rst file

* Better visualzation

* Load planning problem from db

* Undo temp fixes and changes

* Update fasted to shortest

* Language and spelling 1

* Apply suggestions from code review

Co-authored-by: Chris Thrasher <[email protected]>
Co-authored-by: Sebastian Castro <[email protected]>
Co-authored-by: Stephanie Eng <[email protected]>

* Move parallel planning into how_to_guides

* Address review and cleanup

* Add second OMPL pipeline

* Apply suggestions from code review

Co-authored-by: Sebastian Castro <[email protected]>

* Address review

* Format

* Apply suggestions from code review

Co-authored-by: Sebastian Castro <[email protected]>

* Address review

* Fix bug

* Apply suggestions from code review

Co-authored-by: Sebastian Castro <[email protected]>

* Address review 3

Co-authored-by: Chris Thrasher <[email protected]>
Co-authored-by: Sebastian Castro <[email protected]>
Co-authored-by: Stephanie Eng <[email protected]>

Author: 4 people

CMakeLists.txt

@@ -63,6 +63,7 @@ add_subdirectory(doc/examples/planning_scene_ros_api)
 add_subdirectory(doc/examples/planning_scene)
 add_subdirectory(doc/examples/realtime_servo)
 add_subdirectory(doc/how_to_guides/using_ompl_constrained_planning)
+add_subdirectory(doc/how_to_guides/parallel_planning)
 add_subdirectory(doc/examples/robot_model_and_robot_state)
 add_subdirectory(doc/tutorials/pick_and_place_with_moveit_task_constructor)
 add_subdirectory(doc/tutorials/quickstart_in_rviz)

doc/examples/examples.rst

@@ -77,8 +77,8 @@ Miscellaneous
 .. toctree::
    :maxdepth: 1
 
-   realtime_servo/realtime_servo_tutorial
-   hybrid_planning/hybrid_planning_tutorial
    benchmarking/benchmarking_tutorial
-   tests/tests_tutorial
    dual_arms/dual_arms_tutorial
+   hybrid_planning/hybrid_planning_tutorial
+   realtime_servo/realtime_servo_tutorial
+   tests/tests_tutorial

doc/how_to_guides/how_to_guides.rst

@@ -11,4 +11,5 @@ These how-to guides will help you quickly solve specific problems using MoveIt.
    how_to_setup_docker_containers_in_ubuntu
    how_to_write_doxygen
    using_ompl_constrained_planning/ompl_constrained_planning
+   parallel_planning/parallel_planning_tutorial
    controller_teleoperation/controller_teleoperation

doc/how_to_guides/parallel_planning/CMakeLists.txt

@@ -0,0 +1,13 @@
+add_executable(parallel_planning_example src/parallel_planning_main.cpp)
+target_include_directories(parallel_planning_example PRIVATE include)
+ament_target_dependencies(parallel_planning_example  ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
+
+install(TARGETS parallel_planning_example
+  DESTINATION lib/${PROJECT_NAME}
+)
+install(DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}
+)
+install(DIRECTORY config
+  DESTINATION share/${PROJECT_NAME}
+)