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

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merged 3 commits into from
Oct 17, 2023
Merged

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

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1c1c21f
Map ompl's APPROXIMATE_SOLUTION -> TIMED_OUT / PLANNING_FAILED
rhaschke Oct 16, 2023
be55ed9
Add planning time + timeout to warning
rhaschke Oct 17, 2023
05803f8
Remove wrong error code assignment
rhaschke Oct 17, 2023
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15 changes: 12 additions & 3 deletions moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -976,7 +976,7 @@ void ompl_interface::ModelBasedPlanningContext::unregisterTerminationCondition()
int32_t ompl_interface::ModelBasedPlanningContext::logPlannerStatus(const og::SimpleSetupPtr& ompl_simple_setup)
{
auto result = moveit_msgs::msg::MoveItErrorCodes::PLANNING_FAILED;
ompl::base::PlannerStatus ompl_status = ompl_simple_setup->getLastPlannerStatus();
const ompl::base::PlannerStatus ompl_status = ompl_simple_setup->getLastPlannerStatus();
switch (ompl::base::PlannerStatus::StatusType(ompl_status))
{
case ompl::base::PlannerStatus::UNKNOWN:
Expand All @@ -1000,8 +1000,17 @@ int32_t ompl_interface::ModelBasedPlanningContext::logPlannerStatus(const og::Si
result = moveit_msgs::msg::MoveItErrorCodes::TIMED_OUT;
break;
case ompl::base::PlannerStatus::APPROXIMATE_SOLUTION:
RCLCPP_WARN(LOGGER, "Solution is approximate");
result = moveit_msgs::msg::MoveItErrorCodes::SUCCESS;
// timeout is a common reason for APPROXIMATE_SOLUTION
if (ompl_simple_setup->getLastPlanComputationTime() > request_.allowed_planning_time)
{
RCLCPP_WARN(LOGGER, "Planning timed out");
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result = moveit_msgs::msg::MoveItErrorCodes::TIMED_OUT;
}
else
{
RCLCPP_WARN(LOGGER, "Solution is approximate");
result = moveit_msgs::msg::MoveItErrorCodes::PLANNING_FAILED;
}
break;
case ompl::base::PlannerStatus::EXACT_SOLUTION:
result = moveit_msgs::msg::MoveItErrorCodes::SUCCESS;
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