sjahr / moveit2

:robot: MoveIt for ROS 2.0, Beta

Hi 👋

My name is Sebastian Jahr. I am a robotics engineer at PickNik Robotics and one of MoveIt's maintainers.

moveit2's Issues

Use L2 norm to calculate trajectory length

Make parallel planning threads interruptable

In order to have a fast motion planner
As a user
I want to define termination criteria for the parallel planning interface

Acceptance criteria:
Planning threads are interrupt-able and a user-defined termination criteria is checked iteratively

Add parallel planning option for moveit_cpp

In order to get the desired trajectory
As a user
I want to run multiple planner’s in parallel and define an acceptance criteria which one should be chosen

Acceptance criteria:
Enhance MoveItCpp to provide an interface to run multiple planning pipelines in parallel and define a criteria which solution is chosen (e.g. fastest (planning time), shortest path (cart <-> joint space), etc)

Document AnytimePathShortening

Write tutorial about path quality in moveit2

In order to improve the application specific path quality
As a user
I want to have guidelines how I can tweak MoveIt in a way that the created motions correspond to my expectations

Acceptance criteria
A MoveIt tutorial which describes how to improve path quality

Improve MoveIt path planning capabilities

In order to get good trajectories
As a user
I want to have have the options and the knowledge to use MoveIts full path planning capabilities

Investigate CForest

ros-planning/moveit#3151

Refactor compute trajectory analysis functions

BenchmarkExecutor.cpp contains two additional trajectory analysis functions computeTrajectoryDistance(...) and computeAveragePathSimilarities(...) these functions should be moved to robot_trajectory.cpp

Add benchmark tests and validate path planning quality improvement

In order to measure the improvement of path quality
As a developer
I want to have benchmark tests to run my new setup against to see if the path quality is improved

Acceptance criteria
Use Mark's Roboflex planning scenes to evaluate implementation against using a single planner

Add flag to indicate that joint interpolation is used as first choice

In order to have intuitive paths with OMPL
As a user
I want to the option to tell OMPL to use a joint interpolation between the current state and the goal state if it exists

Acceptance criteria:
OMPL’s isStraigthLinPathValid feature is exploited by the MoveItCpp API

Add robot trajectory metric functions

In order to measure the path quality
As a user
I want to have measurable quality parameter to judge the quality of a path

Acceptance criteria:
After a planning pipeline created multiple paths, the path quality can be printed as a command line output with measurements for planning speed, intuitivity of the motions and repeatability