Add TrajOpt launch files to panda_moveit_config (#29)

* added new files for emptyplan

* edited demo.launch to accept planner arg

* Added emptyplan_planning.yaml so it can be used for new planners. It is an empty file.
Added rosparam in emptyplan_planning_pipeline.launch.xml to load its yaml file

* from empty to trajopt

* modified some comment

* renamed and edited the context of files from empty to trajopt

* removed  move_group_trajop.launch, we do not need this file

* applied Dave's comments

* restored setup_assistant

* added trajopt params in yaml file
removed extra planner arg in demo.launch

* addressed the comments

* corrected pipeline in move_group

config/trajopt_planning.yaml

+trajopt_param:
+  improve_ratio_threshold: 0.25   # minimum ratio true_improve/approx_improve to accept step. [Research Paper] TrueImprove/ModelImprove > c
+  min_trust_box_size: 1e-4        # if trust region gets any smaller, exit and report convergence. [Research Paper] xtol
+  min_approx_improve: 1e-4        # if model improves less than this, exit and report convergence
+  min_approx_improve_frac: -.Inf  # if model improves less than this, exit and report convergence
+  max_iter: 100                   # The max number of iterations
+  trust_shrink_ratio: 0.1         # if improvement is less than improve_ratio_threshold, shrink trust region by this ratio. [Research Paper] tao-
+  trust_expand_ratio: 1.5         # if improvement is less than improve_ratio_threshold, shrink trust region by this ratio. [Research Paper] tao+
+  cnt_tolerance: 1e-4             # after convergence of penalty subproblem, if constraint violation is less than this, we're done. [Research Paper] ctol
+  max_merit_coeff_increases: 5    # number of times that we jack up penalty coefficient. [Reasearch Paper] Max iteration in PenaltyIteration loop
+  merit_coeff_increase_ratio: 10  # ratio that we increate coeff each time. [Researcy Paper] Penalty scaling factory (italic kappa)
+  max_time: .inf                  # not yet implemented
+  merit_error_coeff: 10           # initial penalty coefficient. [Research Paper] mu_0
+  trust_box_size: 1e-1            # current size of trust region (component-wise). [Research Paper] s
+
+problem_info:
+  basic_info:
+    n_steps: 20                # 2 * steps_per_phase
+    dt_upper_lim: 2.0          # The upper limit of 1/dt values allowed in the optimization
+    dt_lower_lim: 100.0        # The lower limit of 1/dt values allowed in the optimization
+    start_fixed: true          # if true, start pose is the current pose at timestep = 0
+    # if false, the start pose is the one given by req.start_state
+    use_time: false            # if false, it means the timestep is unit, meaning x1-x0 is the velocity for example
+    # if true, then cost_infos ro cnt_infos should have TT_USE_TIME for their term_type
+    convex_solver: 1           # which convex solver to use
+    #  1 = AUTO_SOLVER,  2 = BPMPD, 3 = OSQP, 4 = QPOASES, 5 = GUROBI
+
+  init_info:
+    type: 3                    # 1 = STATIONARY, 2 = JOINT_INTERPOLATED, 3 = GIVEN_TRAJ
+    # request.start_state should be provided for JOINT_INTERPOLATED and GIVEN_TRAJ
+    dt: 0.5
+
+joint_pos_term_info:
+  start_pos:   # from req.start_state
+    name: start_pos
+    first_timestep: 10                # First time step to which the term is applied.
+    last_timestep: 10                # Last time step to which the term is applied.
+    # if start_fixed is trure then we can not set the first_timestep to 0 for start_pos as it is going
+    # to be ignored and only the current pose would be the constraint at timestep = 0.
+    term_type: 2                 # 1 = TT_COST, 2 = TT_CNT, 3 = TT_USE_TIME
+  middle_pos:
+    name: middle_pos
+    first_timestep: 15
+    last_timestep: 15
+    term_type: 2
+  goal_pos:
+    name: goal_pos
+    first_timestep: 19
+    last_timestep: 19
+    term_type: 2
+  goal_tmp:               # If the constraint from request does not have any name, for example when using MotionPlanning Display in Rviz,
+  # goal_tmp is assigned as the name of the constraint.
+  # In this case: start_fixed = false and start_pos should be applied at timestep 0
+  # OR: start_fixed = true and start_pos can be applies at any timestep
+    name: goal_tmp
+    first_timestep: 19  # n_steps - 1
+    last_timestep: 19   # n_steps - 1
+    term_type: 2

launch/demo.launch

 <launch>
 
-  <arg name="planner" default="ompl" />
-
   <!-- By default, we do not start a database (it can be large) -->
   <arg name="db" default="false" />
   <!-- Allow user to specify database location -->
@@ -9,6 +7,7 @@
 
   <!-- By default, we are not in debug mode -->
   <arg name="debug" default="false" />
+  <arg name="pipeline" default="ompl" />
 
   <!--
   By default, hide joint_state_publisher's GUI
@@ -41,11 +40,11 @@
 
   <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
   <include file="$(find panda_moveit_config)/launch/move_group.launch">
-    <arg name="planner" value="$(arg planner)" />
     <arg name="allow_trajectory_execution" value="true"/>
     <arg name="fake_execution" value="true"/>
     <arg name="info" value="true"/>
     <arg name="debug" value="$(arg debug)"/>
+    <arg name="pipeline" value="$(arg pipeline)"  />
   </include>
 
   <!-- Run Rviz -->

launch/move_group.launch

@@ -6,7 +6,7 @@
     <arg name="load_gripper" value="$(arg load_gripper)" />
   </include>
 
-  <arg name="planner" default="ompl" />
+  <arg name="pipeline" default="ompl" />
 
   <!-- GDB Debug Option -->
   <arg name="debug" default="false" />
@@ -28,7 +28,7 @@
 
   <!-- Planning Functionality -->
   <include ns="move_group" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-    <arg name="pipeline" value="$(arg planner)" />
+    <arg name="pipeline" value="$(arg pipeline)" />
   </include>
 
   <!-- Trajectory Execution Functionality -->

launch/run_benchmark_trajopt.launch

+<launch>
+
+  <!-- This argument must specify the list of .cfg files to process for benchmarking -->
+  <arg name="trajopt_config" />
+
+  <!-- Load URDF -->
+  <include file="$(find panda_moveit_config)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- Start the database -->
+  <include file="$(find panda_moveit_config)/launch/warehouse.launch">
+    <arg name="moveit_warehouse_database_path" value="moveit_trajopt_benchmark_warehouse"/>
+  </include>
+
+  <!-- Start Benchmark Executable -->
+  <node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark"
+        args="$(arg trajopt_config) --benchmark-planners" respawn="false" output="screen">
+    <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
+    <rosparam command="load" file="$(find panda_moveit_config)/config/trajopt_planning.yaml"/>
+  </node>
+
+</launch>

launch/trajopt_planning_pipeline.launch.xml

+<launch>
+
+  <!-- TrajOpt Plugin for MoveIt! -->
+  <arg name="planning_plugin" value="trajopt_interface/TrajOptPlanner" />
+
+  <!-- The request adapters (plugins) used when planning with TrajOpt.
+       ORDER MATTERS -->
+  <arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
+				       default_planner_request_adapters/FixWorkspaceBounds
+				       default_planner_request_adapters/FixStartStateBounds
+				       default_planner_request_adapters/FixStartStateCollision
+				       default_planner_request_adapters/FixStartStatePathConstraints" />
+
+  <arg name="start_state_max_bounds_error" value="0.1" />
+
+  <param name="planning_plugin" value="$(arg planning_plugin)" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+
+  <rosparam command="load" file="$(find panda_moveit_config)/config/trajopt_planning.yaml"/>
+
+</launch>