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Improved Motion Planning debugging #130

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Improved Motion Planning debugging #130

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@marrts marrts commented Aug 2, 2024 •
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Improvements to the debugging for motion planning.

  • Save all motion plan results to a time stamped directory
/tmp/SNP_Planning
├── Plan02-08-2024-10-47-30
│   ├── Results.dot
│   └── intermediate_ci
│       ├── SNPCartesianPipeline_input_data1.xml
│       ├── SNPCartesianPipeline_input_data2.xml
│       ├── SNPCartesianPipeline_input_data3.xml
│       ├── SNPCartesianPipeline_min_len_output_data3.xml
│       ├── SNPCartesianPipeline_speed_param_output_data3.xml
│       ├── SNPCartesianPipeline_trajopt_output_data3.xml
│       ├── SNPFreespacePipeline_input_data0.xml
│       ├── SNPFreespacePipeline_input_data7.xml
│       ├── SNPFreespacePipeline_ompl_output_data7.xml
│       ├── SNPTransitionPipeline_input_data1.xml
│       ├── SNPTransitionPipeline_input_data2.xml
│       ├── descartes_output_data.xml
│       └── input_data.xml

  • Allow for RVIZ introspection of individual planning steps
    image

  • Some other minor motion planning improvements

@marrts marrts requested a review from marip8 August 2, 2024 18:41
@marrts marrts mentioned this pull request Aug 2, 2024
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marip8
marip8 reviewed Aug 7, 2024
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snp_motion_planning/src/planner_profiles.hpp
@@ -170,7 +170,7 @@ std::shared_ptr<tesseract_planning::TrajOptDefaultCompositeProfile> createTrajOp

profile->contact_test_type = tesseract_collision::ContactTestType::CLOSEST;

profile->collision_cost_config.enabled = true;
profile->collision_cost_config.enabled = false;
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I think this is another place where we actually want both the cost and constraints to be on. Otherwise, the constraint is probably going to fluctuate between being satisfied and unsatisfied

snp_motion_planning/src/planning_server.cpp Show resolved Hide resolved
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We really need a tesseract helper function that can create a serial chain of tasks with unique keys per input

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Agreed

snp_motion_planning/src/planning_server.cpp Outdated Show resolved Hide resolved
snp_motion_planning/src/planning_server.cpp Outdated Show resolved Hide resolved
snp_motion_planning/src/planning_server.cpp Outdated Show resolved Hide resolved
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marrts commented Aug 26, 2024

Now all CI's are organized by their description, making debugging easier.

image

@marrts marrts mentioned this pull request Sep 24, 2024
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