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Fix Pilz blending times (backport #2961) #3001

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Fix Pilz blending times (backport #2961) #3001

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4488894
Fix Pilz blending times... the right way (#2961)
sea-bass Aug 11, 2024
b607efd
Update command_list_manager.cpp
sea-bass Sep 14, 2024
368f12e
Update trajectory_blender_transition_window.cpp
sea-bass Sep 14, 2024
f622ef2
Update trajectory_blender_transition_window.cpp
sea-bass Sep 14, 2024
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13 changes: 9 additions & 4 deletions moveit_planners/pilz_industrial_motion_planner/src/plan_components_builder.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -54,13 +54,17 @@ std::vector<robot_trajectory::RobotTrajectoryPtr> PlanComponentsBuilder::build()
void PlanComponentsBuilder::appendWithStrictTimeIncrease(robot_trajectory::RobotTrajectory& result,
const robot_trajectory::RobotTrajectory& source)
{
if (result.empty() ||
!pilz_industrial_motion_planner::isRobotStateEqual(result.getLastWayPoint(), source.getFirstWayPoint(),
result.getGroupName(), ROBOT_STATE_EQUALITY_EPSILON))
if (result.empty())
{
result.append(source, 0.0);
return;
}
if (!pilz_industrial_motion_planner::isRobotStateEqual(result.getLastWayPoint(), source.getFirstWayPoint(),
result.getGroupName(), ROBOT_STATE_EQUALITY_EPSILON))
{
result.append(source, source.getWayPointDurationFromStart(0));
return;
}

for (size_t i = 1; i < source.getWayPointCount(); ++i)
{
Expand Down Expand Up @@ -94,7 +98,8 @@ void PlanComponentsBuilder::blend(const planning_scene::PlanningSceneConstPtr& p

// Append the new trajectory elements
appendWithStrictTimeIncrease(*(traj_cont_.back()), *blend_response.first_trajectory);
traj_cont_.back()->append(*blend_response.blend_trajectory, 0.0);
appendWithStrictTimeIncrease(*(traj_cont_.back()), *blend_response.blend_trajectory);

// Store the last new trajectory element for future processing
traj_tail_ = blend_response.second_trajectory; // first for next blending segment
}
Expand Down
3 changes: 2 additions & 1 deletion moveit_planners/pilz_industrial_motion_planner/src/trajectory_blender_transition_window.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -67,7 +67,7 @@ bool pilz_industrial_motion_planner::TrajectoryBlenderTransitionWindow::blend(
std::size_t second_intersection_index;
if (!searchIntersectionPoints(req, first_intersection_index, second_intersection_index))
{
RCLCPP_ERROR(LOGGER, "Blend radius to large.");
RCLCPP_ERROR(LOGGER, "Blend radius too large.");
res.error_code.val = moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN;
return false;
}
Expand Down Expand Up @@ -124,6 +124,7 @@ bool pilz_industrial_motion_planner::TrajectoryBlenderTransitionWindow::blend(

// append the blend trajectory
res.blend_trajectory->setRobotTrajectoryMsg(req.first_trajectory->getFirstWayPoint(), blend_joint_trajectory);

// copy the points [second_intersection_index, len] from the second trajectory
for (size_t i = second_intersection_index + 1; i < req.second_trajectory->getWayPointCount(); ++i)
{
Expand Down
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