Increase default_workspace_bounds in move_group

[Sushant-Chavan]

Hello,
In our tests, we found that the moveit fails to generate valid sample states due to limited default workspace bounds.

�[0m[ INFO] [1623914716.263813167, 132.594000000]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.�[0m
�[0m[ INFO] [1623914716.263952631, 132.594000000]: Planning attempt 1 of at most 5�[0m
�[0m[ INFO] [1623914716.265164136, 132.597000000]: Planner configuration 'whole_body' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.�[0m
�[0m[ INFO] [1623914716.265558893, 132.597000000]: RRTConnect: Starting planning with 1 states already in datastructure�[0m
�[31m[ERROR] [1623914721.270527242, 139.137000000]: RRTConnect: Unable to sample any valid states for goal tree�[0m
�[0m[ INFO] [1623914721.270813935, 139.152000000]: RRTConnect: Created 1 states (1 start + 0 goal)�[0m
�[0m[ INFO] [1623914721.270872546, 139.152000000]: No solution found after 5.005606 seconds�[0m
�[0m[ INFO] [1623914721.274414906, 139.152000000]: Unable to solve the planning problem�[0m
�[0m[ INFO] [1623914721.274481753, 139.152000000]: Planning attempt 2 of at most 5�[0m
�[0m[ INFO] [1623914721.275362441, 139.152000000]: Planner configuration 'whole_body' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.�[0m
�[0m[ INFO] [1623914721.275667629, 139.152000000]: RRTConnect: Starting planning with 1 states already in datastructure�[0m
�[31m[ERROR] [1623914726.282309709, 146.001000000]: RRTConnect: Unable to sample any valid states for goal tree�[0m
�[0m[ INFO] [1623914726.282374622, 146.001000000]: RRTConnect: Created 1 states (1 start + 0 goal)�[0m
�[0m[ INFO] [1623914726.282394009, 146.001000000]: No solution found after 5.006959 seconds�[0m
�[0m[ INFO] [1623914726.292683649, 146.010000000]: Unable to solve the planning problem�[0m
�[0m[ INFO] [1623914726.292751538, 146.010000000]: Planning attempt 3 of at most 5�[0m
�[33m[ WARN] [1623914726.292820499, 146.010000000]: The complete state of the robot is not yet known.  Missing wrist_ft_sensor_frame_joint, base_b_bumper_joint, base_f_bumper_joint, base_l_passive_wheel_x_frame_joint, base_l_passive_wheel_y_frame_joint, base_l_passive_wheel_z_joint, base_r_passive_wheel_x_frame_joint, base_r_passive_wheel_y_frame_joint, base_r_passive_wheel_z_joint�[0m
�[0m[ INFO] [1623914726.293369879, 146.010000000]: Starting state is just outside bounds (joint 'arm_lift_joint'). Assuming within bounds.�[0m
�[0m[ INFO] [1623914726.294230199, 146.010000000]: Planner configuration 'whole_body' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.�[0m
�[0m[ INFO] [1623914726.294471977, 146.010000000]: RRTConnect: Starting planning with 1 states already in datastructure�[0m
�[31m[ERROR] [1623914731.297824434, 152.520000000]: RRTConnect: Unable to sample any valid states for goal tree�[0m
�[0m[ INFO] [1623914731.297911899, 152.520000000]: RRTConnect: Created 1 states (1 start + 0 goal)�[0m
�[0m[ INFO] [1623914731.297942517, 152.520000000]: No solution found after 5.003643 seconds�[0m
�[0m[ INFO] [1623914731.315343998, 152.559000000]: Unable to solve the planning problem�[0m
�[0m[ INFO] [1623914731.315419481, 152.559000000]: Planning attempt 4 of at most 5�[0m
�[0m[ INFO] [1623914731.315479414, 152.562000000]: Starting state is just outside bounds (joint 'arm_lift_joint'). Assuming within bounds.�[0m
�[0m[ INFO] [1623914731.316458268, 152.562000000]: Planner configuration 'whole_body' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.�[0m
�[0m[ INFO] [1623914731.316764157, 152.562000000]: RRTConnect: Starting planning with 1 states already in datastructure�[0m
�[31m[ERROR] [1623914736.318887095, 158.775000000]: RRTConnect: Unable to sample any valid states for goal tree�[0m
�[0m[ INFO] [1623914736.318954022, 158.775000000]: RRTConnect: Created 1 states (1 start + 0 goal)�[0m
�[0m[ INFO] [1623914736.318977206, 158.775000000]: No solution found after 5.002433 seconds�[0m
�[0m[ INFO] [1623914736.322799916, 158.775000000]: Unable to solve the planning problem�[0m
�[0m[ INFO] [1623914736.322899064, 158.775000000]: Planning attempt 5 of at most 5�[0m
�[0m[ INFO] [1623914736.322965640, 158.775000000]: Starting state is just outside bounds (joint 'arm_lift_joint'). Assuming within bounds.�[0m
�[0m[ INFO] [1623914736.324077917, 158.775000000]: Planner configuration 'whole_body' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.�[0m
�[0m[ INFO] [1623914736.324405076, 158.775000000]: RRTConnect: Starting planning with 1 states already in datastructure�[0m
�[31m[ERROR] [1623914741.333706886, 165.240000000]: RRTConnect: Unable to sample any valid states for goal tree�[0m
�[0m[ INFO] [1623914741.333768482, 165.240000000]: RRTConnect: Created 1 states (1 start + 0 goal)�[0m
�[0m[ INFO] [1623914741.333789362, 165.240000000]: No solution found after 5.009613 seconds�[0m
�[0m[ INFO] [1623914741.339664339, 165.240000000]: Unable to solve the planning problem�[0m

Would it be possible to increase the default_workspace_bounds from 2.0 to 10.0 in the simulator?

Thanks!
Sushant

[yosuke]

My understanding was set_workspace API will do the job:

https://github.com/hsr-project/notebooks/blob/master/utils.py#L180

But, it is true that in some case we need to set the default_workspace_bounds parameter:

https://answers.ros.org/question/356728/moveit-set-workspace-relative-to-the-robot-pose/

Let me see if there is any side-effect on increasing this parameter.

[yosuke]

As far as I observed from the moveit source code, the default_workspace_bounds parameter is only enforced when the workspace parameters are not set:

https://github.com/ros-planning/moveit/blob/3361b2d1b6b2feabc2d3e93c75653f5a00e87fa4/moveit_ros/planning/planning_request_adapter_plugins/src/fix_workspace_bounds.cpp#L75-L85

So can you try the set_workspace API first and let me know the result?

One possible side-effect of increasing the defaut_workspace_bounds parameter can be the increase of planning time due to the increase of the planning space (will result in planning timeout). So it will be nice if we can change it dynamically by the API.