PythonAPI help: planning pipeline

[burf2000]

Hello there, I have been trying to get to grips with the Python API.

I use a launch file to pass all the params, and I can see they are being loaded. However the issue I face is with the planning pipeline. I have spent days trying to work out what its expecting: See log below.

I have been using pipelines (like ompl, stomp, chomp) that come with whatever repo I use (e.g myCobot, Igus_rebel). I fire up their MoveIt2 demo (Gazebo, MoveIt, Rvzi, everything is ready to go) however when I make my own package (the Python API to control the arm), it can never seem to load the other persons existing planning file.

I have tried ones like:

planning_pipelines:
  pipeline_names: ["ompl"]

plan_request_params:
  planning_pipeline: ompl
  planning_time: 5.0
  planning_attempts: 3
  max_velocity_scaling_factor: 0.5
  max_acceleration_scaling_factor: 0.5

request_adapters:
  - default_planning_request_adapters/ResolveConstraintFrames
  - default_planning_request_adapters/ValidateWorkspaceBounds
  - default_planning_request_adapters/CheckStartStateBounds
  - default_planning_request_adapters/CheckStartStateCollision

planner_configs:
  # Global planner configurations
  RRTConnectkConfigDefault:
    type: geometric::RRTConnect
    range: 0.0

igus_rebel_arm:
  default_planner_config: RRTConnectkConfigDefault
  planner_configs:
    - RRTConnectkConfigDefault

Or ones like that came with the Arm:

move_group:
  planning_plugins: 
    - ompl_interface/OMPLPlanner
  # To optionally use Ruckig for jerk-limited smoothing, add this line to the request adapters below
  # default_planner_request_adapters/AddRuckigTrajectorySmoothing
  request_adapters:
    - default_planning_request_adapters/ResolveConstraintFrames
    - default_planning_request_adapters/ValidateWorkspaceBounds
    - default_planning_request_adapters/CheckStartStateBounds
    - default_planning_request_adapters/CheckStartStateCollision
  response_adapters:
    - default_planning_response_adapters/AddTimeOptimalParameterization
    - default_planning_response_adapters/ValidateSolution
    - default_planning_response_adapters/DisplayMotionPath
  start_state_max_bounds_error: 0.1
  
planner_configs:
  APSConfigDefault:
    type: geometric::AnytimePathShortening
    shortcut: 1  # Attempt to shortcut all new solution paths
    hybridize: 1  # Compute hybrid solution trajectories
    max_hybrid_paths: 36  # Number of hybrid paths generated per iteration
    num_planners: 8  # The number of default planners to use for planning
    planners: "RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect"  # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]"
  SBLkConfigDefault:
    type: geometric::SBL
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
  ESTkConfigDefault:
    type: geometric::EST
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
  LBKPIECEkConfigDefault:
    type: geometric::LBKPIECE
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
  BKPIECEkConfigDefault:
    type: geometric::BKPIECE
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
  KPIECEkConfigDefault:
    type: geometric::KPIECE
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9 (0.0,1.]
    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
  RRTkConfigDefault:
    type: geometric::RRT
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
  RRTConnectkConfigDefault:
    type: geometric::RRTConnect
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
  RRTstarkConfigDefault:
    type: geometric::RRTstar
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
    delay_collision_checking: 1  # Stop collision checking as soon as C-free parent found. default 1
  TRRTkConfigDefault:
    type: geometric::TRRT
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
    max_states_failed: 10  # when to start increasing temp. default: 10
    temp_change_factor: 2.0  # how much to increase or decrease temp. default: 2.0
    min_temperature: 10e-10  # lower limit of temp change. default: 10e-10
    init_temperature: 10e-6  # initial temperature. default: 10e-6
    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
    frountierNodeRatio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
    k_constant: 0.0  # value used to normalize expression. default: 0.0 set in setup()
  PRMkConfigDefault:
    type: geometric::PRM
    max_nearest_neighbors: 10  # use k nearest neighbors. default: 10
  PRMstarkConfigDefault:
    type: geometric::PRMstar
  FMTkConfigDefault:
    type: geometric::FMT
    num_samples: 1000  # number of states that the planner should sample. default: 1000
    radius_multiplier: 1.1  # multiplier used for the nearest neighbors search radius. default: 1.1
    nearest_k: 1  # use Knearest strategy. default: 1
    cache_cc: 1  # use collision checking cache. default: 1
    heuristics: 0  # activate cost to go heuristics. default: 0
    extended_fmt: 1  # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1
  BFMTkConfigDefault:
    type: geometric::BFMT
    num_samples: 1000  # number of states that the planner should sample. default: 1000
    radius_multiplier: 1.0  # multiplier used for the nearest neighbors search radius. default: 1.0
    nearest_k: 1  # use the Knearest strategy. default: 1
    balanced: 0  # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1
    optimality: 1  # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1
    heuristics: 1  # activates cost to go heuristics. default: 1
    cache_cc: 1  # use the collision checking cache. default: 1
    extended_fmt: 1  # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1
  PDSTkConfigDefault:
    type: geometric::PDST
  STRIDEkConfigDefault:
    type: geometric::STRIDE
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
    use_projected_distance: 0  # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0
    degree: 16  # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16
    max_degree: 18  # max degree of a node in the GNAT. default: 12
    min_degree: 12  # min degree of a node in the GNAT. default: 12
    max_pts_per_leaf: 6  # max points per leaf in the GNAT. default: 6
    estimated_dimension: 0.0  # estimated dimension of the free space. default: 0.0
    min_valid_path_fraction: 0.2  # Accept partially valid moves above fraction. default: 0.2
  BiTRRTkConfigDefault:
    type: geometric::BiTRRT
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
    temp_change_factor: 0.1  # how much to increase or decrease temp. default: 0.1
    init_temperature: 100  # initial temperature. default: 100
    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
    frountier_node_ratio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
    cost_threshold: 1e300  # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
  LBTRRTkConfigDefault:
    type: geometric::LBTRRT
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
    epsilon: 0.4  # optimality approximation factor. default: 0.4
  BiESTkConfigDefault:
    type: geometric::BiEST
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
  ProjESTkConfigDefault:
    type: geometric::ProjEST
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
  LazyPRMkConfigDefault:
    type: geometric::LazyPRM
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
  LazyPRMstarkConfigDefault:
    type: geometric::LazyPRMstar
  SPARSkConfigDefault:
    type: geometric::SPARS
    stretch_factor: 3.0  # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
    sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
    dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
    max_failures: 1000  # maximum consecutive failure limit. default: 1000
  SPARStwokConfigDefault:
    type: geometric::SPARStwo
    stretch_factor: 3.0  # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
    sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
    dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
    max_failures: 5000  # maximum consecutive failure limit. default: 5000
  TrajOptDefault:
    type: geometric::TrajOpt

igus_rebel_arm:
  planner_configs:
    - APSConfigDefault
    - SBLkConfigDefault
    - ESTkConfigDefault
    - LBKPIECEkConfigDefault
    - BKPIECEkConfigDefault
    - KPIECEkConfigDefault
    - RRTkConfigDefault
    - RRTConnectkConfigDefault
    - RRTstarkConfigDefault
    - TRRTkConfigDefault
    - PRMkConfigDefault
    - PRMstarkConfigDefault
    - FMTkConfigDefault
    - BFMTkConfigDefault
    - PDSTkConfigDefault
    - STRIDEkConfigDefault
    - BiTRRTkConfigDefault
    - LBTRRTkConfigDefault
    - BiESTkConfigDefault
    - ProjESTkConfigDefault
    - LazyPRMkConfigDefault
    - LazyPRMstarkConfigDefault
    - SPARSkConfigDefault
    - SPARStwokConfigDefault
    - TrajOptDefault

My launch file looks like this: (remember the Rviz, Gazebo etc has been fired up with another launch)

import os
from launch import LaunchDescription
from launch_ros.actions import Node
from moveit_configs_utils import MoveItConfigsBuilder
from ament_index_python.packages import get_package_share_directory

def generate_launch_description():

    moveit_config = (
        MoveItConfigsBuilder("igus_rebel", package_name="igus_rebel_moveit_config")
        .robot_description(file_path=os.path.join(
            get_package_share_directory("igus_rebel_description"),
            "urdf",
            "igus_rebel_robot2.urdf.xacro"
        ))
        .robot_description_semantic(file_path="config/igus_rebel2.srdf")
        # .planning_pipelines(pipelines=["ompl"])
        .joint_limits(file_path="config/joint_limits.yaml")
        .pilz_cartesian_limits(file_path="config/pilz_cartesian_limits.yaml")
        .trajectory_execution(file_path="config/moveit_controllers.yaml")
        .moveit_cpp(
            file_path=get_package_share_directory("igus_rebel_moveit_config")
            + "/config/planning_python_api.yaml"
        )
        .to_moveit_configs()
    )


    api_server = Node(
        name="moveit_py",
        package="igus_rebel_api",
        executable="moveit_http_server",
        output="both",
        parameters=[moveit_config.to_dict(), {"use_sim_time": True}]
    )

    return LaunchDescription([
        api_server
    ])

[INFO] [moveit_http_server-1]: process started with pid [635177]
[moveit_http_server-1] [INFO] [1752735207.805195173] [moveit_1703450355.moveit.py.cpp_initializer]: Initialize rclcpp
[moveit_http_server-1] [INFO] [1752735207.805262563] [moveit_1703450355.moveit.py.cpp_initializer]: Initialize node parameters
[moveit_http_server-1] [INFO] [1752735207.805275729] [moveit_1703450355.moveit.py.cpp_initializer]: Initialize node and executor
[moveit_http_server-1] [INFO] [1752735207.813505769] [moveit_1703450355.moveit.py.cpp_initializer]: Spin separate thread
[moveit_http_server-1] [INFO] [1752735207.818829265] [moveit_1703450355.moveit.ros.rdf_loader]: Loaded robot model in 0 seconds
[moveit_http_server-1] [INFO] [1752735207.818889406] [moveit_1703450355.moveit.core.robot_model]: Loading robot model 'igus_rebel'...
[moveit_http_server-1] [INFO] [1752735208.129960668] [moveit_1703450355.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'igus_rebel_arm': 1 1 1 1 1 1
[moveit_http_server-1] [INFO] [1752735209.394457649] [moveit_1703450355.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[moveit_http_server-1] [INFO] [1752735209.394611438] [moveit_1703450355.moveit.ros.moveit_cpp]: Listening to 'joint_states' for joint states
[moveit_http_server-1] [INFO] [1752735209.395510990] [moveit_1703450355.moveit.ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[moveit_http_server-1] [INFO] [1752735209.395905215] [moveit_1703450355.moveit.ros.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[moveit_http_server-1] [INFO] [1752735209.395922598] [moveit_1703450355.moveit.ros.planning_scene_monitor]: Stopping existing planning scene publisher.
[moveit_http_server-1] [INFO] [1752735209.396039933] [moveit_1703450355.moveit.ros.planning_scene_monitor]: Stopped publishing maintained planning scene.
[moveit_http_server-1] [INFO] [1752735209.396369562] [moveit_1703450355.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[moveit_http_server-1] [INFO] [1752735209.396443733] [moveit_1703450355.moveit.ros.planning_scene_monitor]: Starting planning scene monitor
[moveit_http_server-1] [INFO] [1752735209.396736566] [moveit_1703450355.moveit.ros.planning_scene_monitor]: Listening to '/planning_scene'
[moveit_http_server-1] [INFO] [1752735209.396749754] [moveit_1703450355.moveit.ros.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[moveit_http_server-1] [INFO] [1752735209.397964327] [moveit_1703450355.moveit.ros.planning_scene_monitor]: Listening to 'collision_object'
[moveit_http_server-1] [INFO] [1752735209.398418423] [moveit_1703450355.moveit.ros.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[moveit_http_server-1] [WARN] [1752735209.398673556] [moveit_1703450355.moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[moveit_http_server-1] [ERROR] [1752735209.398690920] [moveit_1703450355.moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates
[moveit_http_server-1] [INFO] [1752735211.089264311] [moveit_1703450355.moveit.ros.planning_scene_monitor]: Stopped publishing maintained planning scene.
[moveit_http_server-1] [INFO] [1752735211.089293881] [moveit_1703450355.moveit.ros.planning_scene_monitor]: Stopping world geometry monitor
[moveit_http_server-1] [INFO] [1752735211.089300257] [moveit_1703450355.moveit.ros.planning_scene_monitor]: Stopping planning scene monitor
[moveit_http_server-1] Traceback (most recent call last):
[moveit_http_server-1]   File "/home/burf2000/igus_ws/install/igus_rebel_api/lib/igus_rebel_api/moveit_http_server", line 33, in <module>
[moveit_http_server-1]     sys.exit(load_entry_point('igus-rebel-api==0.0.0', 'console_scripts', 'moveit_http_server')())
[moveit_http_server-1]              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[moveit_http_server-1]   File "/home/burf2000/igus_ws/install/igus_rebel_api/lib/python3.12/site-packages/igus_rebel_api/moveit_http_server.py", line 114, in main
[moveit_http_server-1]     moveit = MoveItPy(node_name="moveit_http_server")   # loads MoveIt params
[moveit_http_server-1]              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[moveit_http_server-1] RuntimeError: Planning plugin name is empty or not defined in namespace 'ompl'. Please choose one of the available plugins: chomp_interface/CHOMPPlanner, ompl_interface/OMPLPlanner, pilz_industrial_motion_planner/CommandPlanner, stomp_moveit/StompPlanner
[ERROR] [moveit_http_server-1]: process has died [pid 635177, exit code 1, cmd '/home/burf2000/igus_ws/install/igus_rebel_api/lib/igus_rebel_api/moveit_http_server --ros-args -r __node:=moveit_py --params-file /tmp/launch_params_0e2ifwxp --params-file /tmp/launch_params_zymaz5v1'].