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WIP: Cost function example #679

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81aa932
Initial commit for planner cost function tutorial
sjahr May 8, 2023
846501b
Format and add cost_function
sjahr May 8, 2023
fddff90
Format and visualize
sjahr May 10, 2023
fa3c396
Update to new cost function interface
sjahr May 17, 2023
768b190
Add stomp as selectable planner
sjahr May 18, 2023
548d1f8
Use stomp + cleanup
sjahr May 23, 2023
2723a98
Add TrajectoryLineVisualization
sjahr May 24, 2023
916bc0f
Update function signature to Eigen
sjahr May 26, 2023
faeb028
Add dedicated STOMP publisher marker
sjahr Jun 14, 2023
d0a2738
TMP
sjahr Jul 19, 2023
2cc0454
Iterate through more benchmark queries
sjahr Jul 31, 2023
7f985f5
Make custom cost function optional
sjahr Aug 7, 2023
8b76399
Cleanup and switch to getMinJointDisplacementCostFn
sjahr Aug 10, 2023
37ba031
Format!
sjahr Sep 14, 2023
9b726a1
Update function name
sjahr Oct 26, 2023
863a9a5
Revert moveit_cpp changes and add small fix
sjahr Oct 26, 2023
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1 change: 1 addition & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -69,6 +69,7 @@ add_subdirectory(doc/how_to_guides/parallel_planning)
add_subdirectory(doc/how_to_guides/chomp_planner)
add_subdirectory(doc/how_to_guides/persistent_scenes_and_states)
add_subdirectory(doc/how_to_guides/pilz_industrial_motion_planner)
add_subdirectory(doc/how_to_guides/planner_cost_functions)
add_subdirectory(doc/how_to_guides/using_ompl_constrained_planning)
add_subdirectory(doc/tutorials/pick_and_place_with_moveit_task_constructor)
add_subdirectory(doc/tutorials/quickstart_in_rviz)
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1 change: 1 addition & 0 deletions doc/examples/moveit_cpp/config/moveit_cpp.yaml
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Expand Up @@ -14,5 +14,6 @@ planning_pipelines:
plan_request_params:
planning_attempts: 1
planning_pipeline: ompl
planner_id: "RRTConnectkConfigDefault"
max_velocity_scaling_factor: 1.0
max_acceleration_scaling_factor: 1.0
1 change: 1 addition & 0 deletions doc/examples/moveit_cpp/launch/moveit_cpp_tutorial.launch.py
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Expand Up @@ -11,6 +11,7 @@ def generate_launch_description():
MoveItConfigsBuilder("moveit_resources_panda")
.robot_description(file_path="config/panda.urdf.xacro")
.trajectory_execution(file_path="config/gripper_moveit_controllers.yaml")
.planning_pipelines("ompl", ["ompl"])
.moveit_cpp(
file_path=get_package_share_directory("moveit2_tutorials")
+ "/config/moveit_cpp.yaml"
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13 changes: 13 additions & 0 deletions doc/how_to_guides/planner_cost_functions/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -0,0 +1,13 @@
add_executable(planner_cost_functions_example src/planner_cost_functions_main.cpp)
target_include_directories(planner_cost_functions_example PRIVATE include)
ament_target_dependencies(planner_cost_functions_example ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)

install(TARGETS planner_cost_functions_example
DESTINATION lib/${PROJECT_NAME}
)
install(DIRECTORY launch
DESTINATION share/${PROJECT_NAME}
)
install(DIRECTORY config
DESTINATION share/${PROJECT_NAME}
)
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