MoveIt! Time Optimal Path Parameterization

Description: Time optimizes a kinematic path, say from sampling-based motion planning or IK solvers, to be as fast as possible under velocity and acceleration constraints.

Features:

• Converts a kinematic path into piecewise polynomials using spline fitting
• Spline fitting accomplished using cubic Hermite interpolant by the algorithm CALCCF from Conte and deBoor.

Developed by Dave Coleman at the University of Colorado Boulder, using the TOPP library by Quang-Cuong Pham

Status:

• Indigo Travis CI
• Indigo Devel Job Status
• Indigo AMD64 Debian Job Status

Licensing

Be aware there are multiple licenses in this project:

Spline Fitting - GNU LGPL v3 TOPP Library - GNU LGPL v3 ROS Package - BSD 3-Clause

Install

Ubuntu Debian

Not available yet:

sudo apt-get install ros-indigo-moveit-topp

Build from Source

To build this package, git clone this repo into a catkin workspace and be sure to install necessary dependencies by running the following command in the root of your catkin workspace:

rosdep install -y --from-paths src --ignore-src --rosdistro indigo

Code API

See Class Reference

Usage

Demo: Convert Piecewise Polynomial Trajectory to Time-Optimal Discretized Path

• Use the Matlab script scripts/convert_joint_traj_to_pp.m to generate data/matlab_pp_traj.csv

• Convert the file into discretized optimized waypoints in C++ using TOPP via:

    rosrun moveit_topp demo_pp_to_optimal
  

• This generates data/topp_optimized_traj.csv

• View the generated discretized waypoints:

    matlab scripts/display_TOPP_traj.m
  

Demo: Convert Joint Trajectory Waypoints into Piecewise Polynomial Trajectory

• Generate a joint-space waypoints trajectory using MoveIt! and save into data/matlab_joint_traj.csv

• Convert the file into piecewise polynomials in C++ using via:

    rosrun moveit_topp demo_joint_traj_to_pp
  

• This generates data/spline_pp_traj.csv

• View the generated PP spline in Matlab:

    matlab scripts/display_PP.m
  

Demo: Convert Joint Trajectory Waypoints into Time-Optimal Discretized Path

• Generate a joint-space waypoints trajectory using MoveIt! and save into data/matlab_joint_traj.csv

• Convert the file into discretized optimized waypoints in C++ using TOPP via:

    rosrun moveit_topp demo_joint_traj_to_optimal
  

• This generates data/topp_optimized_traj.csv

• View the generated discretized waypoints:

    matlab scripts/display_TOPP_traj.m
  

Demo: Convert ROS Trajectory Message Waypoints into Time-Optimal Discretized Path

UNFINISHED

• Generate a joint-space waypoints trajectory using MoveIt! and save into data/matlab_joint_traj.csv

• Convert the file into discretized optimized waypoints in C++ using TOPP via:

    rosrun moveit_topp demo_traj_msg_to_optimal
  

• This generates data/topp_optimized_traj.csv

• View the generated discretized waypoints:

    matlab scripts/display_TOPP_traj.m
  

Testing and Linting

To run roslint, use the following command with catkin-tools:

catkin build --no-status --no-deps --this --make-args roslint

To run catkin lint, use the following command with catkin-tools:

catkin lint -W2

There are currently no unit or integration tests for this package. If there were you would use the following command with catkin-tools:

catkin run_tests --no-deps --this -i

Contribute

Please send PRs for new helper functions, fixes, etc!