Add AnytimePathShortening to ada_moveit (#50)

* Add Anytime Path Shortening

* Tune parameters

* Run pre-commit

* Switch to RRT*-Inf

Author: amalnanavati

ada_moveit/config/ompl_planning.yaml

@@ -11,6 +11,13 @@ request_adapters: >-
     default_planner_request_adapters/FixWorkspaceBounds
 # Based on Kinova's parameters: https://github.com/Kinovarobotics/kinova-ros/blob/noetic-devel/kinova_moveit/robot_configs/j2n6s300_moveit_config/config/ompl_planning.yaml
 planner_configs:
+  AnytimePathShortening:
+    type: geometric::AnytimePathShortening
+    shortcut: 1  # Attempt to shortcut all new solution paths
+    hybridize: 1  # Compute hybrid solution trajectories
+    max_hybrid_paths: 8  # Number of hybrid paths generated per iteration
+    num_planners: 4  # The number of default planners to use for planning
+    planners: "RRTConnect[intermediate_states=0 range=0.05]"  # 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()
@@ -42,10 +49,11 @@ planner_configs:
     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()
+    intermediate_states: 0 # Whether to add intermediate states to the plan, default 0
+    range: 0.05  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
   RRTstarkConfigDefault:
     type: geometric::RRTstar
-    range: 3.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() (in practice, for ADA, this default is ~7)
+    range: 100.0 # 3.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() (in practice, for ADA, this default is ~7, around 20% of the maximum extent of the space)
     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:
@@ -68,6 +76,7 @@ jaco_arm:
   enforce_constrained_state_space: true
   projection_evaluator: joints(j2n6s200_joint_1,j2n6s200_joint_2)
   planner_configs:
+    - AnytimePathShortening
     - SBLkConfigDefault
     - ESTkConfigDefault
     - LBKPIECEkConfigDefault
@@ -80,8 +89,6 @@ jaco_arm:
     - PRMkConfigDefault
     - PRMstarkConfigDefault
 hand:
-  enforce_constrained_state_space: true
-  projection_evaluator: joints(j2n6s200_joint_1,j2n6s200_joint_2)
   planner_configs:
     - SBLkConfigDefault
     - ESTkConfigDefault

ada_moveit/launch/demo.launch.py

@@ -261,7 +261,9 @@ def generate_launch_description():
             package="controller_manager",
             executable="ros2_control_node",
             parameters=[robot_description, robot_controllers],
-            arguments=["--ros-args", "--log-level", log_level],
+            # Commented out the log-level since the joint state publisher logs every joint read
+            # when on debug level
+            arguments=["--ros-args"],  # , "--log-level", log_level],
         )
     )