Skip to content

Set max cartesian end-effector speed in planning pipeline #277

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 8 commits into from
Sep 10, 2025
Merged

Set max cartesian end-effector speed in planning pipeline #277

Show file tree
Hide file tree
Changes from 2 commits
Commits
Show all changes
8 commits
Select commit Hold shift + click to select a range
b39a7dc
set max cartesian speed in planning pipeline
gautz Jun 25, 2021
0dc4780
pre-commit run
gautz Jun 25, 2021
cf873aa
use planner_request_adapter
gautz Jun 30, 2021
aa12c0a
wip set cartesian path max speed
gautz Jun 30, 2021
ef94837
Merge branch 'master' into HEAD
rhaschke Sep 10, 2025
2f1f4f0
Move setter functions to base class PlannerInterface
rhaschke Sep 10, 2025
86e6540
Add python bindings
rhaschke Sep 10, 2025
b60149b
Add example code to cartesian.py
rhaschke Sep 10, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
13 changes: 13 additions & 0 deletions core/src/solvers/pipeline_planner.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,7 @@
#include <moveit/task_constructor/task.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/planning_pipeline/planning_pipeline.h>
#include <moveit/trajectory_processing/cartesian_speed.h>
#include <moveit_msgs/MotionPlanRequest.h>
#include <moveit/kinematic_constraints/utils.h>
#include <eigen_conversions/eigen_msg.h>
Expand Down Expand Up @@ -149,6 +150,8 @@ void initMotionPlanRequest(moveit_msgs::MotionPlanRequest& req, const PropertyMa
req.num_planning_attempts = p.get<uint>("num_planning_attempts");
req.max_velocity_scaling_factor = p.get<double>("max_velocity_scaling_factor");
req.max_acceleration_scaling_factor = p.get<double>("max_acceleration_scaling_factor");
req.max_cartesian_speed = p.get<double>("max_cartesian_speed");
req.cartesian_speed_end_effector_link = p.get<std::string>("cartesian_speed_end_effector_link");
req.workspace_parameters = p.get<moveit_msgs::WorkspaceParameters>("workspace_parameters");
}

Expand All @@ -168,6 +171,11 @@ bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
::planning_interface::MotionPlanResponse res;
bool success = planner_->generatePlan(from, req, res);
result = res.trajectory_;
// optionally compute timing to move the eef with constant speed
if (req.max_cartesian_speed > 0.0) {
trajectory_processing::setMaxCartesianEndEffectorSpeed(*result, req.max_cartesian_speed,
req.cartesian_speed_end_effector_link);
}
return success;
}

Expand All @@ -192,6 +200,11 @@ bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from, co
::planning_interface::MotionPlanResponse res;
bool success = planner_->generatePlan(from, req, res);
result = res.trajectory_;
// optionally compute timing to move the eef with constant speed
if (req.max_cartesian_speed > 0.0) {
trajectory_processing::setMaxCartesianEndEffectorSpeed(*result, req.max_cartesian_speed,
req.cartesian_speed_end_effector_link);
}
return success;
}
} // namespace solvers
Expand Down
3 changes: 3 additions & 0 deletions core/src/solvers/planner_interface.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,9 @@ PlannerInterface::PlannerInterface() {
auto& p = properties();
p.declare<double>("max_velocity_scaling_factor", 1.0, "scale down max velocity by this factor");
p.declare<double>("max_acceleration_scaling_factor", 1.0, "scale down max acceleration by this factor");
p.declare<double>("max_cartesian_speed", 0.0, "maximum cartesian end-effector speed");
p.declare<std::string>("cartesian_speed_end_effector_link", "end_effector_link",
"end-effector link with limited the velocity");
}
} // namespace solvers
} // namespace task_constructor
Expand Down