Hybrid planning action types do not carry time info, require re-time-parameterization

[AndyZe]

Hybrid planning is designed to be flexible, with local planner and global planner plugins. The plugins exchange these message types:

moveit_msgs::action::GlobalPlanner moveit_msgs::action::LocalPlanner moveit_msgs::action::HybridPlanner

These actions don't contain trajectory information. They only contain a MotionPlanRequestMsg. I don't think this is ideal because it might require time-parameterization to be re-run. In other words, the local planner doesn't have any idea of when it should reach the next waypoint.

I think it would be nice to replace the MotionPlanRequest[] with trajectory_msgs/JointTrajectory[] so that timing information is included.

[sjahr]

@AndyZe I am a bit confused what you mean with this issue. Between the Global and the Local Planner, time information is exchanged through the global_trajectory topic. The message type of this topic is MotionPlanResponse which contains a field RobotTrajectory that contains a trajectory_msgs/JointTrajectory. So from my understanding, the local planner receives a fully parameterized trajectory from the global planner.

[sjahr]

Closing this because I think it is outdated. Also the MotionPlanRequest message contains a field called reference trajectory that can store a JointTrajectory. Passing the full Request is necessary to also provide information about constraints. @AndyZe Feel free to re-open this issue if I am missing something here