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Added additional profiles to match common pipelines #90

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Jan 9, 2024
Merged

Added additional profiles to match common pipelines #90

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28 changes: 28 additions & 0 deletions tesseract_planning_server/src/tesseract_planning_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,9 +49,13 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
#include <tesseract_motion_planners/trajopt/profile/trajopt_default_composite_profile.h>
#include <tesseract_motion_planners/trajopt/profile/trajopt_default_plan_profile.h>
#include <tesseract_motion_planners/trajopt/profile/trajopt_default_solver_profile.h>
#include <tesseract_task_composer/planning/profiles/contact_check_profile.h>
#include <tesseract_task_composer/planning/profiles/iterative_spline_parameterization_profile.h>
#include <tesseract_task_composer/planning/profiles/min_length_profile.h>
#ifdef TESSERACT_TASK_COMPOSER_HAS_TRAJOPT_IFOPT
#include <tesseract_motion_planners/trajopt_ifopt/profile/trajopt_ifopt_default_composite_profile.h>
#include <tesseract_motion_planners/trajopt_ifopt/profile/trajopt_ifopt_default_plan_profile.h>
#include <tesseract_motion_planners/trajopt_ifopt/profile/trajopt_ifopt_default_solver_profile.h>
#endif

#include <tesseract_task_composer/planning/planning_task_composer_problem.h>
Expand All @@ -73,6 +77,9 @@ static const std::string TRAJOPT_IFOPT_DEFAULT_NAMESPACE = "TrajOptIfoptMotionPl
static const std::string OMPL_DEFAULT_NAMESPACE = "OMPLMotionPlannerTask";
static const std::string DESCARTES_DEFAULT_NAMESPACE = "DescartesMotionPlannerTask";
static const std::string SIMPLE_DEFAULT_NAMESPACE = "SimpleMotionPlannerTask";
static const std::string MLT_DEFAULT_NAMESPACE = "MinLengthTask";
static const std::string ISP_DEFAULT_NAMESPACE = "IterativeSplineParameterizationTask";
static const std::string DCC_DEFAULT_NAMESPACE = "DiscreteContactCheckTask";

namespace tesseract_planning_server
{
Expand Down Expand Up @@ -314,6 +321,10 @@ void TesseractPlanningServer::loadDefaultPlannerProfiles()
TRAJOPT_IFOPT_DEFAULT_NAMESPACE,
tesseract_planning::DEFAULT_PROFILE_KEY,
std::make_shared<tesseract_planning::TrajOptIfoptDefaultCompositeProfile>());
profiles_->addProfile<tesseract_planning::TrajOptIfoptSolverProfile>(
TRAJOPT_IFOPT_DEFAULT_NAMESPACE,
tesseract_planning::DEFAULT_PROFILE_KEY,
std::make_shared<tesseract_planning::TrajOptIfoptDefaultSolverProfile>());
#endif

// Add Descartes Default Profiles
Expand All @@ -333,6 +344,23 @@ void TesseractPlanningServer::loadDefaultPlannerProfiles()
SIMPLE_DEFAULT_NAMESPACE,
tesseract_planning::DEFAULT_PROFILE_KEY,
std::make_shared<tesseract_planning::SimplePlannerLVSNoIKPlanProfile>());

// MinLengthTask calls the SimpleMotionPlanner to generate a seed path with waypoints interpolated in joint space
profiles_->addProfile<tesseract_planning::MinLengthProfile>(MLT_DEFAULT_NAMESPACE,
tesseract_planning::DEFAULT_PROFILE_KEY,
std::make_shared<tesseract_planning::MinLengthProfile>());

// Post hoc collision checking
profiles_->addProfile<tesseract_planning::ContactCheckProfile>(
DCC_DEFAULT_NAMESPACE,
tesseract_planning::DEFAULT_PROFILE_KEY,
std::make_shared<tesseract_planning::ContactCheckProfile>());

// Time parameterization
profiles_->addProfile<tesseract_planning::IterativeSplineParameterizationProfile>(
ISP_DEFAULT_NAMESPACE,
tesseract_planning::DEFAULT_PROFILE_KEY,
std::make_shared<tesseract_planning::IterativeSplineParameterizationProfile>());
}

Eigen::Isometry3d TesseractPlanningServer::tfFindTCPOffset(const tesseract_common::ManipulatorInfo& manip_info)
Expand Down
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