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Adds lerp planning_example #5

Merged
merged 1 commit into from
Oct 13, 2021
Merged

Adds lerp planning_example #5

merged 1 commit into from
Oct 13, 2021

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rickstaa
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@rickstaa rickstaa commented Oct 8, 2021 •
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This pull request adds all the files that are needed to run the lerp_planning_example example.

Problems I encountered

@rhaschke The LERP planner appears to be broken with the current version of the moveit_tutorials. When trying to plan for the arm/hand using the demo_lerp.launch file, I receive the following error:

[/move_group] [ INFO] [WallTime: 1633679678.987511987]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[/move_group] [ INFO] [WallTime: 1633679678.987855257]: Planning attempt 1 of at most 1
[/move_group] [ INFO] [WallTime: 1633679678.987961462]: Using planning pipeline 'lerp'
[/move_group] [ INFO] [WallTime: 1633679678.988882849]: ===>>> context is made
[/move_group] [ERROR] [WallTime: 1633679678.990022201]: Exception caught executing *final* adapter 'Fix Start State Path Constraints': std::bad_alloc
[/move_group] [ INFO] [WallTime: 1633679678.990101679]: ===>>> context is made
[/move_group] [ERROR] [WallTime: 1633679678.990901659]: Exception caught executing *next* adapter 'Fix Start State In Collision': std::bad_alloc
[/move_group] [ INFO] [WallTime: 1633679678.991236870]: ===>>> context is made
[/move_group] [ERROR] [WallTime: 1633679678.991961975]: Exception caught executing *final* adapter 'Fix Start State Path Constraints': std::bad_alloc
[/move_group] [ INFO] [WallTime: 1633679678.992035892]: ===>>> context is made
[/move_group] [ERROR] [WallTime: 1633679678.992774648]: Exception caught executing *next* adapter 'Fix Start State Bounds': std::bad_alloc
[/move_group] [ INFO] [WallTime: 1633679678.993193038]: ===>>> context is made
[/move_group] [ERROR] [WallTime: 1633679678.993908167]: Exception caught executing *final* adapter 'Fix Start State Path Constraints': std::bad_alloc
[/move_group] [ INFO] [WallTime: 1633679678.993978186]: ===>>> context is made
[/move_group] [ERROR] [WallTime: 1633679678.994811188]: Exception caught executing *next* adapter 'Fix Start State In Collision': std::bad_alloc
[/move_group] [ INFO] [WallTime: 1633679678.995157990]: ===>>> context is made
[/move_group] [ERROR] [WallTime: 1633679678.995878903]: Exception caught executing *final* adapter 'Fix Start State Path Constraints': std::bad_alloc
[/move_group] [ INFO] [WallTime: 1633679678.995951089]: ===>>> context is made
[/move_group] [ERROR] [WallTime: 1633679678.996720838]: Exception caught executing *next* adapter 'Fix Workspace Bounds': std::bad_alloc
[/move_group] [ INFO] [WallTime: 1633679678.997142400]: ===>>> context is made
[/move_group] [ERROR] [WallTime: 1633679678.997874046]: Exception caught executing *final* adapter 'Fix Start State Path Constraints': std::bad_alloc
[/move_group] [ INFO] [WallTime: 1633679678.997955308]: ===>>> context is made
[/move_group] [ERROR] [WallTime: 1633679678.998640435]: Exception caught executing *next* adapter 'Fix Start State In Collision': std::bad_alloc
[/move_group] [ INFO] [WallTime: 1633679678.998931865]: ===>>> context is made
[/move_group] [ERROR] [WallTime: 1633679678.999678874]: Exception caught executing *final* adapter 'Fix Start State Path Constraints': std::bad_alloc
[/move_group] [ INFO] [WallTime: 1633679678.999764237]: ===>>> context is made
[/move_group] [ERROR] [WallTime: 1633679679.000694797]: Exception caught executing *next* adapter 'Fix Start State Bounds': std::bad_alloc
[/move_group] [ INFO] [WallTime: 1633679679.001090778]: ===>>> context is made
[/move_group] [ERROR] [WallTime: 1633679679.001824467]: Exception caught executing *final* adapter 'Fix Start State Path Constraints': std::bad_alloc
[/move_group] [ INFO] [WallTime: 1633679679.001905068]: ===>>> context is made
[/move_group] [ERROR] [WallTime: 1633679679.002650335]: Exception caught executing *next* adapter 'Fix Start State In Collision': std::bad_alloc
[/move_group] [ INFO] [WallTime: 1633679679.002945467]: ===>>> context is made
[/move_group] [ERROR] [WallTime: 1633679679.003642320]: Exception caught executing *final* adapter 'Fix Start State Path Constraints': std::bad_alloc
[/move_group] [ INFO] [WallTime: 1633679679.003726250]: ===>>> context is made
[/move_group] [ERROR] [WallTime: 1633679679.004392814]: Exception caught executing *next* adapter 'Add Time Parameterization': std::bad_alloc
[/move_group] [ INFO] [WallTime: 1633679679.004779642]: ===>>> context is made
[/move_group] [ERROR] [WallTime: 1633679679.005442765]: Exception caught executing *final* adapter 'Fix Start State Path Constraints': std::bad_alloc
[/move_group] [ INFO] [WallTime: 1633679679.005527461]: ===>>> context is made
[/move_group] [ERROR] [WallTime: 1633679679.006203854]: Exception caught executing *next* adapter 'Fix Start State In Collision': std::bad_alloc
[/move_group] [ INFO] [WallTime: 1633679679.006495155]: ===>>> context is made
[/move_group] [ERROR] [WallTime: 1633679679.007197349]: Exception caught executing *final* adapter 'Fix Start State Path Constraints': std::bad_alloc
[/move_group] [ INFO] [WallTime: 1633679679.007284955]: ===>>> context is made
[/move_group] [ERROR] [WallTime: 1633679679.008060459]: Exception caught executing *next* adapter 'Fix Start State Bounds': std::bad_alloc
[/move_group] [ INFO] [WallTime: 1633679679.008454788]: ===>>> context is made
[/move_group] [ERROR] [WallTime: 1633679679.009199169]: Exception caught executing *final* adapter 'Fix Start State Path Constraints': std::bad_alloc
[/move_group] [ INFO] [WallTime: 1633679679.009282950]: ===>>> context is made
[/move_group] [ERROR] [WallTime: 1633679679.009986105]: Exception caught executing *next* adapter 'Fix Start State In Collision': std::bad_alloc
[/move_group] [ INFO] [WallTime: 1633679679.010279707]: ===>>> context is made
[/move_group] [ERROR] [WallTime: 1633679679.011088695]: Exception caught executing *final* adapter 'Fix Start State Path Constraints': std::bad_alloc
[/move_group] [ INFO] [WallTime: 1633679679.011167219]: ===>>> context is made
[/move_group] [ERROR] [WallTime: 1633679679.011906895]: Exception caught executing *next* adapter 'Fix Workspace Bounds': std::bad_alloc
[/move_group] [ INFO] [WallTime: 1633679679.012308540]: ===>>> context is made
[/move_group] [ERROR] [WallTime: 1633679679.013445049]: Exception caught executing *final* adapter 'Fix Start State Path Constraints': std::bad_alloc
[/move_group] [ INFO] [WallTime: 1633679679.013514771]: ===>>> context is made
[/move_group] [ERROR] [WallTime: 1633679679.014337454]: Exception caught executing *next* adapter 'Fix Start State In Collision': std::bad_alloc
[/move_group] [ INFO] [WallTime: 1633679679.014654429]: ===>>> context is made
[/move_group] [ERROR] [WallTime: 1633679679.015446926]: Exception caught executing *final* adapter 'Fix Start State Path Constraints': std::bad_alloc
[/move_group] [ INFO] [WallTime: 1633679679.015520893]: ===>>> context is made
[/move_group] [ERROR] [WallTime: 1633679679.016253671]: Exception caught executing *next* adapter 'Fix Start State Bounds': std::bad_alloc
[/move_group] [ INFO] [WallTime: 1633679679.016678609]: ===>>> context is made
[/move_group] [ERROR] [WallTime: 1633679679.017538173]: Exception caught executing *final* adapter 'Fix Start State Path Constraints': std::bad_alloc
[/move_group] [ INFO] [WallTime: 1633679679.017607248]: ===>>> context is made
[/move_group] [ERROR] [WallTime: 1633679679.018382161]: Exception caught executing *next* adapter 'Fix Start State In Collision': std::bad_alloc
[/move_group] [ INFO] [WallTime: 1633679679.018708994]: ===>>> context is made
[/move_group] [ERROR] [WallTime: 1633679679.019510432]: Exception caught executing *final* adapter 'Fix Start State Path Constraints': std::bad_alloc
[/move_group] [ INFO] [WallTime: 1633679679.019609972]: ===>>> context is made
[/move_group] [ERROR] [WallTime: 1633679679.020399113]: Exception caught: 'std::bad_alloc'

I'm not sure if these errors are related to any of the files added in this pull request. If not we can merge #5 and add a note about the problem in rickstaa#26, so we can fix it later.

I will transfer these notes to moveit#74 when we merged all the pull requests listed in moveit#74 (comment). After #4 and #5 are merged only rickstaa#39 and rickstaa#54 remain.

@rickstaa rickstaa marked this pull request as draft October 8, 2021 07:34
@rickstaa
Add lerp planning_example
ef806b9 
This commit adds all the files that are needed to run the
[lerp_planning_example](https://ros-planning.github.io/moveit_tutorials/doc/creating_moveit_plugins/plugin_tutorial.html?highlight=lerp)
example.
@rickstaa rickstaa marked this pull request as ready for review October 8, 2021 08:02
@rhaschke rhaschke mentioned this pull request Oct 13, 2021
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@rhaschke
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I fixed the LERP planner in moveit_tutorials: moveit/moveit_tutorials#671.
The problem was that the num_steps parameter wasn't found, thus was uninitialized and causing a huge std::vector to be allocated.

@rhaschke rhaschke merged commit 85756cd into rhaschke:noetic-devel-rickstaa Oct 13, 2021
@rickstaa rickstaa deleted the adds_lerp_planning_example branch October 13, 2021 19:09
@rickstaa
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@rhaschke Great, thanks a lot for your fix!

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2 participants
@rickstaa @rhaschke