rafaelrojasmiliani/gsplines_cpp_ros

Generalized Splines for Motion Optimization in C++ and python3

gsplines_cpp_ros's Issues

Add Basis message

Ad a message describing a Basis by its name, dimension and parameters

Implement testing

1. Unit test of interoperability functions.
   • basis_msg_to_basis and basis_to_basis_msg can be inverted (applying one after the other gives the same)
   • gspline_msg_to_gspline and gspline_to_msg can be inverted (applying one after the other gives the same)
   • gspline_to_joint_gspline_msg and gspline_to_joint_trajectory_msg can be inverted
   • function_to_joint_trajectory_msg, gspline_msg_to_joint_trajectory_msg, joint_gspline_msg_to_joint_trajectory_msg, function_to_follow_joint_trajectory_goal, gspline_msg_to_follow_joint_trajectory_goal, joint_gspline_msg_to_follow_joint_trajectory_goal` test that the values coincide with the function position, derivative, acceleration
   • follow_joint_trajectory_feedback_to_follow_joint_gspline_feedback, follow_joint_gspline_goal_to_follow_joint_trajectory_goal check that can be inverted
   • follow_joint_gspline_result_to_follow_joint_trajectory_result follow_joint_trajectory_result_to_follow_joint_gspline_result can be inverted
   • waypoint_matrix, interval_length_vector give correct result
   • interpolate_joint_trajectory
   • minimum_sobolev_semi_norm, minimum_sobolev_semi_norm_joint_trajectory, minimum_jerk_trajectory
2. Integration tests
   • Basis message
   • GSpline message
   • Control messages and actions

Implement CI/CD, create packages and implement gsplines as deb pacakages

Implement interoperability functions

Convert Generic functions into ros_control objects

from	to
gsplines::function::FunctionBase	trajectory_msgs::JointTrajectory
gsplines::function::FunctionBase	control_msgs::FollowJointTrajectoryGoal

Convert Gsplines into gsplines_msgs and ros_control objects

from	to
gsplines::GSpline	gsplines_msgs::GSpline
gsplines::GSpline	gsplines_msgs::JointGSpline
gsplines::GSpline	trajectory_msgs::JointTrajectory
gsplines::GSpline	control_msgs::FollowJointTrajectoryGoal

Convert gsplines_msgs into GSplines and ros_control objects

from	to
gsplines_msgs::GSpline	gsplines::GSpline
gsplines_msgs::GSpline	gsplines_msgs::JointGSpline
gsplines_msgs::GSpline	trajectory_msgs::JointTrajectory
gsplines_msgs::GSpline	control_msgs::FollowJointTrajectoryGoal
gsplines_msgs::JointGSpline	gsplines::GSpline
gsplines_msgs::JointGSpline	gsplines_msgs::GSpline
gsplines_msgs::JointGSpline	trajectory_msgs::JointTrajectory
gsplines_msgs::JointGSpline	control_msgs::FollowJointTrajectoryGoal

Convert ros_control objects into GSplines

Interpret ros_control objects as interpolation requests

from	to
trajectory_msgs::JointTrajectory	gsplines::GSpline
control_msgs::FollowJointTrajectoryGoal	gsplines::GSpline

Interpret ros_control objects as optimization requests

from	to
trajectory_msgs::JointTrajectory	gsplines::GSpline
control_msgs::FollowJointTrajectoryGoal	gsplines::GSpline

Improve random trajectories generators

The random trajectory generators should be able to

• 1. Use dynamic reconfigure
• 2. Parametrized type of trajectory optimization
• 3. wait until the robot stops before publishing a new trajectory

Align with new gsplines architecture

Compile the gsplines and expose them to ros

• Complete the CMake file in order to make other ros packages to access to the gsplines
  • In C++
  • In python

Remove unnecesary interoperability functions and implement new ones

• gspline_to_joint_trajectory_msg
• function_expression_to_joint_trajectory_msg
• gspline_to_follow_joint_trajectory_goal
• function_expression_to_follow_joint_trajectory_goal
• implement function_to_follow_joint_trajectory_goal