Documentation from issues/discussions

[rjoomen]

The documentation currently is not very complete, but in the issues and discussions throughout the tesseract/trajopt projects a lot of useful information can be found, as the devs are typically very helpful with clear explanations. I'm going to try to collect useful links here, so the information that is already available can be more easily found, and hopefully integrated in the docs someday.

Documentation

• How to use collision terms efficiently? trajopt#250
  Evaluator types/safety margins/costs vs. constraints

• TrajOptTaskflow Failure tesseract_planning#101
  Nice write-up on process planners. Note: these are called pipelines now, so FreespaceTaskflow -> FreespacePipeline.

• Adding a seed trajectory to a planning request tesseract_planning#199
  Some discussion about seed trajectory generation for Trajopt using the SimplePlanner.

• Add joint angle seed or joint configuration seed to CartesianWaypoint tesseract#491
  A Plan Profile is specific to each waypoint, whereas a composite profile is related to a collection of waypoints.

• What is the cartesian_coeff value for TrajOptDefaultPlanProfile mean? tesseract_planning#84
  how can I understand the meanning of cartesian_coeff ,when set cartesian_coeff(5) to zero ,what does that mean tesseract_ros#188
  cartesian_coeff explanation.

• How to use collision terms efficiently? trajopt#258
  Contact test types, safety_margin, safety_margin_buffer and optimization failures for certain environments.

• safety_margin_buffer for collision costs trajopt#318
  safety_margin_buffer for both collision costs and constraints.

• Difference between the `collision_constraint_config` and `collision_cost_config` tesseract_planning#103
  Costs and constraints.

• .ply or .pcd files and trajopt trajopt#316
  my D435I depth camera mounted on arm_end_effector, how can i combined it with tesseract,to integrate octomap based on pointcloud topic in the planning server tesseract_ros#197
  Using point cloud data with Trajopt/Tesseract.

• how to manager the octomap updates from pointcloud of camera? tesseract_ros#122
  how can we import 3d pointcloud topic to plansence in tesseract_ros， tesseract_ros#198
  How to monitor point cloud data, drawbacks, plans to add this to the planning server.

• PlanningRequest.msg had short descriptions of the raster pipelines
  https://github.com/tesseract-robotics/tesseract_ros2/blob/b16609cee8b34bbcab5977a228f9be9bafed75ce/tesseract_msgs/msg/PlanningRequest.msg

• Task descriptions
  https://github.com/tesseract-robotics/tesseract_planning/tree/master/tesseract_task_composer

• Correct way to add optimization progress plotting callbacks tesseract_planning#204

• Velocity (and accel/jerk) smoothing
  "Velocity smoothing directly conflicts with collision avoidance and should be turned of by default. I recommend turning off velocity smoothing and enabling acceleration and jerk smoothing."
  trajopt takes 5 seconds to plan tesseract_planning#190 (comment)

• Turning on OMPL path simplification breaks Trajopt tesseract_planning#361

• VHACD example
  Using Convex Decomposition for Collision Geometry tesseract_planning#372 (comment)

• The SimpleMotionPlanner uses the seed of a cartesian waypoint directly as a joint waypoint, not as seed for IK.
  SimplePlanner interpretation of cartesian waypoint seed tesseract_planning#375

• Broad phase/narrow phase in collision checkers
  collision check in manipulators tesseract#939

• Add a trajectory as a collision object (e.g. for dual arm use)
  Dual Robot Planning Example tesseract#929

• Safety margin terminology in the Trajopt paper
  Terminology: collision_margin and collision_margin_buffer trajopt#347

Development progress

• Do not use use_weighted_sum in legacy trajopt (yet)
  TrajOpt failed to find a collision-free path in the following example tesseract_planning#147 (comment)

• Workbench: planning tab tesseract_ros#204
  Work in progress, currently still empty.

Ideas/methods

• Planning in dynamic environment tesseract#304
  Presentation on tesseract online planning