From 92a1ec0518012e15a97ab01edaf54b1affe7a90f Mon Sep 17 00:00:00 2001 From: Sebastian Jahr Date: Wed, 12 Mar 2025 17:25:08 +0100 Subject: [PATCH 1/4] Make trajectory monitoring optional --- capabilities/src/execute_task_solution_capability.cpp | 1 + msgs/msg/TrajectoryExecutionInfo.msg | 2 ++ 2 files changed, 3 insertions(+) diff --git a/capabilities/src/execute_task_solution_capability.cpp b/capabilities/src/execute_task_solution_capability.cpp index 2dfaae3bd..ac18e6cc1 100644 --- a/capabilities/src/execute_task_solution_capability.cpp +++ b/capabilities/src/execute_task_solution_capability.cpp @@ -151,6 +151,7 @@ bool ExecuteTaskSolutionCapability::constructMotionPlan(const moveit_task_constr // define individual variable for use in closure below const std::string description = std::to_string(i + 1) + "/" + std::to_string(solution.sub_trajectory.size()); exec_traj.description = description; + exec_traj.trajectory_monitoring = sub_traj.execution_info.trajectory_monitoring; const moveit::core::JointModelGroup* group = nullptr; { diff --git a/msgs/msg/TrajectoryExecutionInfo.msg b/msgs/msg/TrajectoryExecutionInfo.msg index ccadd2286..d72f0b778 100644 --- a/msgs/msg/TrajectoryExecutionInfo.msg +++ b/msgs/msg/TrajectoryExecutionInfo.msg @@ -1,2 +1,4 @@ # List of controllers to use when executing the trajectory string[] controller_names +# If true, the trajectory is collision checked before execution. +bool trajectory_monitoring From 05e2d1d7e1e5f6362e34ddc29f42bf8340315fbe Mon Sep 17 00:00:00 2001 From: Sebastian Jahr Date: Fri, 14 Mar 2025 10:30:08 +0100 Subject: [PATCH 2/4] Format --- msgs/msg/TrajectoryExecutionInfo.msg | 1 + 1 file changed, 1 insertion(+) diff --git a/msgs/msg/TrajectoryExecutionInfo.msg b/msgs/msg/TrajectoryExecutionInfo.msg index d72f0b778..0411de4b2 100644 --- a/msgs/msg/TrajectoryExecutionInfo.msg +++ b/msgs/msg/TrajectoryExecutionInfo.msg @@ -2,3 +2,4 @@ string[] controller_names # If true, the trajectory is collision checked before execution. bool trajectory_monitoring + From ddc13159764116f6cfe713cda6442ecd98ee51de Mon Sep 17 00:00:00 2001 From: Sebastian Jahr Date: Fri, 14 Mar 2025 10:59:32 +0100 Subject: [PATCH 3/4] Apply suggestions from code review Co-authored-by: Mario Prats --- msgs/msg/TrajectoryExecutionInfo.msg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/msgs/msg/TrajectoryExecutionInfo.msg b/msgs/msg/TrajectoryExecutionInfo.msg index 0411de4b2..e527e822d 100644 --- a/msgs/msg/TrajectoryExecutionInfo.msg +++ b/msgs/msg/TrajectoryExecutionInfo.msg @@ -1,5 +1,5 @@ # List of controllers to use when executing the trajectory string[] controller_names -# If true, the trajectory is collision checked before execution. +# MoveIt's Trajectory Execution Manager has the ability to monitor a trajectory for collisions while it's being executed. This is useful in dynamic environments where obstacles may change between the time the plan was computed and its execution, or even during execution. If this flag is set to true, MoveIt's online collision monitor will be enabled, which can stop the trajectory at any point during execution if a collision is predicted. bool trajectory_monitoring From 82994374e1fbf6b07e0fc6561d33f1106332aa9a Mon Sep 17 00:00:00 2001 From: Sebastian Jahr Date: Fri, 14 Mar 2025 11:04:30 +0100 Subject: [PATCH 4/4] Update msgs/msg/TrajectoryExecutionInfo.msg --- msgs/msg/TrajectoryExecutionInfo.msg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/msgs/msg/TrajectoryExecutionInfo.msg b/msgs/msg/TrajectoryExecutionInfo.msg index e527e822d..bf6556145 100644 --- a/msgs/msg/TrajectoryExecutionInfo.msg +++ b/msgs/msg/TrajectoryExecutionInfo.msg @@ -1,5 +1,5 @@ # List of controllers to use when executing the trajectory string[] controller_names -# MoveIt's Trajectory Execution Manager has the ability to monitor a trajectory for collisions while it's being executed. This is useful in dynamic environments where obstacles may change between the time the plan was computed and its execution, or even during execution. If this flag is set to true, MoveIt's online collision monitor will be enabled, which can stop the trajectory at any point during execution if a collision is predicted. +# MoveIt's PlanExecution capability that is used to execute MTC solutions has the ability to monitor a trajectory for collisions while it's being executed. This is useful in dynamic environments where obstacles may change between the time the plan was computed and its execution, or even during execution. If this flag is set to true, MoveIt's online collision monitor will be enabled, which can stop the trajectory at any point during execution if a collision is predicted. bool trajectory_monitoring