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Published 20 hours ago • verified publisher icon ros-planning

WIP: Alternatives and fallback planners

Open sjahr opened this issue 1 year ago • 12 comments

Depends on https://github.com/ros-planning/moveit2/pull/2043 (Merged but not released 04/05/23)

Implement planners proposed by @rhaschke here

FallbackPlanner is a renamed version of the already existing MultiPlanner ported to ROS2 with the extensions, that it is now possible to pass a stopping criterion to the planner.

AlternativesPlanner is an implementation of the parallel planning interface in Moveit but on an MTC solver level so it is possible to run multiple solvers in parallel and select a solution. I did not find an easy way to add a stopping criteria here, so each parallel solver uses it's complete timeout for the moment.

This PR does not invalidate #450 because that is a refactoring of solely the PipelinePlanner to support MoveIt2's parallel planning feature.

  • [ ] Test with tutorial

sjahr avatar Apr 03 '23 09:04 sjahr