Acceleration/Velocity limits using PILZ planner for GP4

[shobhitagg]

I am trying to use PILZ planner for cartesian trajectories via /plan_kinematic_path service. Below is my code snippet.

	moveit_msgs::MotionPlanRequest mp_req;
	moveit_msgs::MotionPlanResponse mp_res;

	mp_req.pipeline_id = "pilz_industrial_motion_planner";
	mp_req.planner_id = "LIN";
	mp_req.group_name = "manipulator";
	mp_req.num_planning_attempts = 5;
	mp_req.max_acceleration_scaling_factor = 0.3;

	float pos_tolerance = 0.001;
	float orient_tolerance = 0.01;
	// move_group_.constructMotionPlanRequest(mp_req);
	// convert geometry_msgs::Pose to geometry_msgs::PoseStamped
	geometry_msgs::PoseStamped target_pose_stamped;
	target_pose_stamped.header.frame_id = move_group_.getPlanningFrame();
	target_pose_stamped.pose = req.pose;
	moveit_msgs::Constraints pose_goal = kinematic_constraints::constructGoalConstraints(move_group_.getEndEffectorLink(), target_pose_stamped, pos_tolerance, orient_tolerance);
	mp_req.goal_constraints.push_back(pose_goal);

	ros::ServiceClient plan_kinematics_path_client = nh_.serviceClient<moveit_msgs::GetMotionPlan>("plan_kinematic_path");
	plan_kinematics_path_client.waitForExistence();
	moveit_msgs::GetMotionPlan srv;
	srv.request.motion_plan_request = mp_req;

	moveit_msgs::MoveItErrorCodes ret_val;
	ret_val.val = moveit_msgs::MoveItErrorCodes::TIMED_OUT;

	while (ret_val.val != moveit_msgs::MoveItErrorCodes::SUCCESS)
	{
		if (plan_kinematics_path_client.call(srv))
		{
			mp_res = srv.response.motion_plan_response;
			if (mp_res.error_code.val != moveit_msgs::MoveItErrorCodes::SUCCESS)
			{
				std::cerr << "Planning failed due to ERROR CODE = " << mp_res.error_code.val << std::endl;
			}
			else
			{
				std::cout << "Planning successful\n";
				moveit::planning_interface::MoveGroupInterface::Plan plan;
				plan.trajectory_ = mp_res.trajectory;
				ret_val = move_group_.execute(plan);
			}
		}
		else
		{
			ROS_ERROR("Failed to call service plan_kinematics_path");
			return false;
		}
	}

For some pose goals, it works well, but for others, I get an error for exceeding joint acceleration. If I am using a scaling factor<1, how does it even plan for acceleration greater than what's specified in the joint_limits.yaml file. Is the service using some other reference for planning? or not using any at all?

Please suggest the right forum to post this question, if this is not the right one.

[ERROR] [1705349687.917115366]: Joint acceleration limit of joint_2_l violated. Set the acceleration scaling factor lower! Actual joint acceleration is 183.137, while the limit is 100.
[ERROR] [1705349687.917122451]: Inverse kinematics solution at 0.5s violates the joint velocity/acceleration/deceleration limits.
[ERROR] [1705349687.917133894]: Failed to generate valid joint trajectory from the Cartesian path

[gavanderhoorn]

This appears to be a MoveIt issue.

I would suggest to update your ROSCONSOLE_FORMAT to include the node name (documentation), which should tell you which node is outputting those log lines.

It's not anything in motoman_driver.

Please post your issue on the relevant MoveIt tracker.

[shobhitagg]

Posted the issue on MoveIt tracker: moveit/moveit#3553