Set max cartesian end-effector speed in planning pipeline

[gautz]

Enable trajectory post-processing in planning pipeline to set maximum cartesian end-effector speed.
Requires following to be merged:

• Cartesian end effector speed setting (extension) (cleanup) moveit#2856
• Rename Cartesian end effector field to Cartesian link moveit_msgs#130

How to use? Instead of setProperty("max_velocity_scaling_factor", velocity);, use:

pipeline_planner->setProperty("max_cartesian_speed", velocity); // cartesian_velocity
pipeline_planner->setProperty("cartesian_speed_end_effector_link", welding_tcp_frame_);

I will also implement it in the cartesian demo.

Solves #276

[gautz]

I tested this successfully in the pick_place_task to set velocity of the hand when moving the panda_arm with the pipeline planner. For instance I can set:

• Move-to pre-grasp with max free_space_velocity_=1 [m/s]
• Move-to place with max approach_velocity_=0.1 [m/s]

Do you see a better pipeline planner demo where to set the max cartesian velocity?

[v4hn]

Do you see a better pipeline planner demo where to set the max cartesian velocity?

Instead of squeezing all features into the one demo, I would encourage you to just create a new demo, possibly something that resembles a simple welding trajectory.

[gautz]

Do you see a better pipeline planner demo where to set the max cartesian velocity?

Instead of squeezing all features into the one demo, I would encourage you to just create a new demo, possibly something that resembles a simple welding trajectory.

Makes sense, we will probably propose a welding demo, but rather in middle-long term.

In shorter term I could propose to adapt the cartesian Demo to use the pipeline planner (Pilz and/or OMPL constrained planning) and set different cartesian velocities in there.

[rhaschke]

In principle looks good to me. See the remark below.

[gautz]

I tried to add the explicit call in cartesian_path but I do not manage to get the velocity set in the cartesian demo.

[gautz]

@rhaschke when using the cartesian_path planner, neither setting max_velocity_scaling_factor nor max_cartesian_speed results in a change in robot velocity. Could it be somehow related to the discussions in #210 ?

[codecov]

Codecov Report

❌ Patch coverage is 53.84615% with 6 lines in your changes missing coverage. Please review.
✅ Project coverage is 53.38%. Comparing base (ac4b92f) to head (b60149b).
⚠️ Report is 1 commits behind head on master.

Files with missing lines	Patch %	Lines
core/src/solvers/cartesian_path.cpp	42.86%	4 Missing ⚠️
core/src/solvers/pipeline_planner.cpp	0.00%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #277      +/-   ##
==========================================
- Coverage   53.38%   53.38%   -0.00%     
==========================================
  Files         136      136              
  Lines       11089    11101      +12     
  Branches     1108     1110       +2     
==========================================
+ Hits         5919     5925       +6     
- Misses       5162     5168       +6     
  Partials        8        8              

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