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(WIP) Add Trajectory Cache Example #929

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(WIP) Add Trajectory Cache Example #929

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0310059
Add demo with visualization
methylDragon Jul 31, 2024
babf9a8
Merge branch 'main' into ch3/trajectory-cache-example
sjahr Aug 8, 2024
935b7a9
Add dependency on warehouse_ros_sqlite
methylDragon Aug 8, 2024
474b242
Run pre-commit formatting
methylDragon Aug 9, 2024
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3 changes: 3 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
moveit_msgs
moveit_ros_planning
moveit_ros_planning_interface
moveit_ros_trajectory_cache
moveit_servo
moveit_task_constructor_core
moveit_visual_tools
Expand All @@ -29,6 +30,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
tf2_geometry_msgs
tf2_geometry_msgs
tf2_ros
warehouse_ros_sqlite
)

foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
Expand Down Expand Up @@ -69,6 +71,7 @@ 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/trajectory_cache)
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)
Expand Down
6 changes: 6 additions & 0 deletions doc/how_to_guides/trajectory_cache/CMakeLists.txt
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@@ -0,0 +1,6 @@
add_executable(trajectory_cache_demo src/trajectory_cache_demo.cpp)
ament_target_dependencies(trajectory_cache_demo ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost moveit_ros_trajectory_cache)

install(TARGETS trajectory_cache_demo DESTINATION lib/${PROJECT_NAME})
install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
56 changes: 56 additions & 0 deletions doc/how_to_guides/trajectory_cache/config/trajectory_cache_joint_limits.yaml
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@@ -0,0 +1,56 @@
# These are faster joint limits to allow for faster execution.
joint_limits:
panda_joint1:
has_velocity_limits: true
max_velocity: 50.0
has_acceleration_limits: true
max_acceleration: 5.0
has_jerk_limits: false
panda_joint2:
has_velocity_limits: true
max_velocity: 50.0
has_acceleration_limits: true
max_acceleration: 5.0
has_jerk_limits: false
panda_joint3:
has_velocity_limits: true
max_velocity: 50.0
has_acceleration_limits: true
max_acceleration: 5.0
has_jerk_limits: false
panda_joint4:
has_velocity_limits: true
max_velocity: 50.0
has_acceleration_limits: true
max_acceleration: 5.0
has_jerk_limits: false
panda_joint5:
has_velocity_limits: true
max_velocity: 50.0
has_acceleration_limits: true
max_acceleration: 5.0
has_jerk_limits: false
panda_joint6:
has_velocity_limits: true
max_velocity: 50.0
has_acceleration_limits: true
max_acceleration: 5.0
has_jerk_limits: false
panda_joint7:
has_velocity_limits: true
max_velocity: 50.0
has_acceleration_limits: true
max_acceleration: 5.0
has_jerk_limits: false
panda_finger_joint1:
has_velocity_limits: true
max_velocity: 25.0
has_acceleration_limits: true
max_acceleration: 5.0
has_jerk_limits: false
panda_finger_joint2:
has_velocity_limits: true
max_velocity: 25.0
has_acceleration_limits: true
max_acceleration: 5.0
has_jerk_limits: false
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