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Map ompl's APPROXIMATE_SOLUTION -> TIMED_OUT / PLANNING_FAILED #2455

Merged
merged 3 commits into from
Oct 17, 2023
Merged

Map ompl's APPROXIMATE_SOLUTION -> TIMED_OUT / PLANNING_FAILED #2455

merged 3 commits into from
Oct 17, 2023

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rhaschke
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ompl's APPROXIMATE_SOLUTION is not suitable for actual execution. It just states that we got closer to the goal:

If the top found solution is approximate, does not actually reach the desired goal, but hopefully is closer to it

As the most prominent reason for an approximate solution is a timeout, also checking for this case.

Fixes moveit/moveit_task_constructor#485

@rhaschke
Map ompl's APPROXIMATE_SOLUTION -> TIMED_OUT / PLANNING_FAILED
1c1c21f 
ompl's APPROXIMATE_SOLUTION is not suitable for actual execution.
It just states that we got closer to the goal...
The most prominent reason for an approximate solution is a timeout.
@rhaschke
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Interestingly the issue was fixed in the MoveIt1 backport (moveit/moveit#3257 (review)), but then not back-ported to MoveIt2 again!

@rhaschke rhaschke mentioned this pull request Oct 16, 2023
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codecov bot commented Oct 16, 2023 •
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Codecov Report

Attention: 4 lines in your changes are missing coverage. Please review.

Comparison is base (7cfebe8) 50.86% compared to head (05803f8) 50.84%.

Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #2455      +/-   ##
==========================================
- Coverage   50.86%   50.84%   -0.02%     
==========================================
  Files         386      386              
  Lines       32000    32002       +2     
==========================================
- Hits        16275    16269       -6     
- Misses      15725    15733       +8
Files Coverage Δ
...mpl_interface/src/model_based_planning_context.cpp 58.35% <33.34%> (-0.21%) ⬇️

... and 1 file with indirect coverage changes

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Abishalini
Abishalini approved these changes Oct 16, 2023
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Thanks for this fix!
I tested with a setup that often executed partial solutions and this fixes it. I had to increase the planning time in my setup.

moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp Outdated Show resolved Hide resolved
@rhaschke rhaschke merged commit c0c6baf into moveit:main Oct 17, 2023
@rhaschke rhaschke deleted the fix-approximate branch October 17, 2023 12:34
@leander2189
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Thanks for the fix!!

What is the procedure to get this PR merged also into humble branch? I recall there is a bot that does that, but have no idea how to invoke it...

@rhaschke rhaschke added the backport-humble Mergify label that triggers a PR backport to Humble label Oct 18, 2023
mergify bot pushed a commit that referenced this pull request Oct 18, 2023
@rhaschke @mergify
Map ompl's APPROXIMATE_SOLUTION -> TIMED_OUT / PLANNING_FAILED (#2455)
9cff3ce 
ompl's APPROXIMATE_SOLUTION is not suitable for actual execution. It just states that we got closer to the goal...
The most prominent reason for an approximate solution is a timeout. Thus, return TIMED_OUT and print the used timeouts for convenience.

(cherry picked from commit c0c6baf)
@mergify mergify bot mentioned this pull request Oct 18, 2023
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@rhaschke
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@Mergifyio backport humble

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mergify bot commented Oct 18, 2023

backport humble

✅ Backports have been created

@rhaschke
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What is the procedure to backport? I recall there is a bot that does that, but have no idea how to invoke it...

Usually, it's done by providing the label backport-humble (before merging), which I forgot to do...
However, one can manually trigger a backport by providing a comment (see #2455 (comment)). I will merge the backport if CI succeeds.

Note, that we will need a new release to actually have these changes deployed.

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Note, that we will need a new release to actually have these changes deployed.

Yes, I understand. Thank you

@sjahr sjahr added the backport-iron Mergify label that triggers a PR backport to Iron label Oct 18, 2023
mergify bot pushed a commit that referenced this pull request Oct 18, 2023
@rhaschke @mergify
Map ompl's APPROXIMATE_SOLUTION -> TIMED_OUT / PLANNING_FAILED (#2455)
36fb243 
ompl's APPROXIMATE_SOLUTION is not suitable for actual execution. It just states that we got closer to the goal...
The most prominent reason for an approximate solution is a timeout. Thus, return TIMED_OUT and print the used timeouts for convenience.

(cherry picked from commit c0c6baf)
@mergify mergify bot mentioned this pull request Oct 18, 2023
Merged
sjahr pushed a commit that referenced this pull request Oct 18, 2023
@mergify @rhaschke
Map ompl's APPROXIMATE_SOLUTION -> TIMED_OUT / PLANNING_FAILED (#2455) (
7e5b6ce 
#2459)

ompl's APPROXIMATE_SOLUTION is not suitable for actual execution. It just states that we got closer to the goal...
The most prominent reason for an approximate solution is a timeout. Thus, return TIMED_OUT and print the used timeouts for convenience.

(cherry picked from commit c0c6baf)

Co-authored-by: Robert Haschke <[email protected]>
henningkayser pushed a commit that referenced this pull request Oct 24, 2023
@mergify @rhaschke
Map ompl's APPROXIMATE_SOLUTION -> TIMED_OUT / PLANNING_FAILED (backp…
782a408 
…ort #2455) (#2460)

ompl's APPROXIMATE_SOLUTION is not suitable for actual execution. It just states that we got closer to the goal...
The most prominent reason for an approximate solution is a timeout. Thus, return TIMED_OUT and print the used timeouts for convenience.

(cherry picked from commit c0c6baf)

Co-authored-by: Robert Haschke <[email protected]>
medvedevigorek pushed a commit to AivotRobotics/moveit2 that referenced this pull request Nov 2, 2023
@mergify @rhaschke @medvedevigorek
Map ompl's APPROXIMATE_SOLUTION -> TIMED_OUT / PLANNING_FAILED (backp…
bf81f14 
…ort moveit#2455) (moveit#2460)

ompl's APPROXIMATE_SOLUTION is not suitable for actual execution. It just states that we got closer to the goal...
The most prominent reason for an approximate solution is a timeout. Thus, return TIMED_OUT and print the used timeouts for convenience.

(cherry picked from commit c0c6baf)

Co-authored-by: Robert Haschke <[email protected]>
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leander2189 commented Mar 19, 2024 •
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Just to note that these changes are still not deployed in latest binary version from apt repos (2.5.5-1jammy.20240217.122953). Building from sources works correctly

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@Abishalini Abishalini Abishalini approved these changes

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