Handle unsupported position constraints in OMPL #2417
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
OMPL constrained planning assumes that all position constraints have three dimensions, meaning that they are represented by a BOX bounding volume. If another shape is used (like a SPHERE from moveit_core/kinematic_constraints/utils.hpp), the constraint adapter implementation will produce a segfault because of the lack of dimensions. This fix prevents this by checking for the required BOX type.
Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #2417 +/- ##
==========================================
- Coverage 51.10% 50.73% -0.36%
==========================================
Files 387 386 -1
Lines 32262 32092 -170
==========================================
- Hits 16483 16279 -204
- Misses 15779 15813 +34 ☔ View full report in Codecov by Sentry. |
sea-bass
reviewed
Oct 10, 2023
Comment on lines
380
to
381
| const auto& primitives = constraints.position_constraints.at(0).constraint_region.primitives; | ||
| if (primitives.empty() || primitives.at(0).type != shape_msgs::msg::SolidPrimitive::BOX) |
There was a problem hiding this comment.
Based on how the BoxConstraint and EqualityPositionConstraint parsing works, I think we maybe also want a warning if the number of primitives is greater than 1, saying that only the first primitive will be used?
moveit_planners/ompl/ompl_interface/src/detail/ompl_constraints.cpp
Outdated
Show resolved
Hide resolved
henningkayser
added
backport-iron
sjahr
approved these changes
Dec 6, 2023
|
This pull request is in conflict. Could you fix it @henningkayser? |
mergify bot
pushed a commit
that referenced
this pull request
Dec 19, 2023
* Handle unsupported position constraints in OMPL OMPL constrained planning assumes that all position constraints have three dimensions, meaning that they are represented by a BOX bounding volume. If another shape is used (like a SPHERE from moveit_core/kinematic_constraints/utils.hpp), the constraint adapter implementation will produce a segfault because of the lack of dimensions. This fix prevents this by checking for the required BOX type. * Add warning if more than one position primitive is used --------- Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai> (cherry picked from commit b0401e9) # Conflicts: # moveit_planners/ompl/ompl_interface/src/detail/ompl_constraints.cpp
mergify bot
pushed a commit
that referenced
this pull request
Dec 19, 2023
* Handle unsupported position constraints in OMPL OMPL constrained planning assumes that all position constraints have three dimensions, meaning that they are represented by a BOX bounding volume. If another shape is used (like a SPHERE from moveit_core/kinematic_constraints/utils.hpp), the constraint adapter implementation will produce a segfault because of the lack of dimensions. This fix prevents this by checking for the required BOX type. * Add warning if more than one position primitive is used --------- Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai> (cherry picked from commit b0401e9) # Conflicts: # moveit_planners/ompl/ompl_interface/src/detail/ompl_constraints.cpp
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
OMPL constrained planning assumes that all position constraints have three dimensions, meaning that they are represented by a BOX bounding volume. If another shape is used (like a SPHERE from moveit_core/kinematic_constraints/utils.hpp), the constraint adapter implementation will produce a segfault because of the lack of dimensions. This fix prevents this by checking for the required BOX type.