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feat(control): unify joint limits and bound trajectory dynamics

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Use shared limits for all seven axes across MoveIt, URDF and FRI.
Apply Ruckig smoothing and continuous JTC spline checks, stretching
trajectory timing to respect velocity, acceleration and jerk limits.
Require fresh stationary feedback for direct trajectories and protect
preparation from concurrent submissions and stop requests.

Add regression tests, dependencies and bilingual FRI documentation.
Include the updated LIN speed-sweep scenario and current 60 ms filter
configuration. Acceleration and jerk limits remain project settings;
physical high-speed twitching is still under investigation.
This commit is contained in:
Даниил Грабарь
2026-09-21 05:16:09 +03:00
parent 9f0f05df87
commit 0a091ad521
43 changed files with 1342 additions and 137 deletions
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src/iiwa_planning/CMakeLists.txt
+44
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@@ -16,6 +16,50 @@ find_package(moveit_ros_planning REQUIRED)
find_package(moveit_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(iiwa_msgs REQUIRED)
find_package(pluginlib REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(Python3 REQUIRED COMPONENTS Interpreter Development.Module)
find_package(pybind11 REQUIRED)
pybind11_add_module(_iiwa_spline_limits src/spline_limits_py.cpp)
target_compile_features(_iiwa_spline_limits PRIVATE cxx_std_17)
target_include_directories(_iiwa_spline_limits PRIVATE include)
ament_get_python_install_dir(PYTHON_INSTALL_DIR)
install(TARGETS _iiwa_spline_limits LIBRARY DESTINATION ${PYTHON_INSTALL_DIR})
add_library(iiwa_spline_limits SHARED src/limit_spline_dynamics.cpp)
target_compile_features(iiwa_spline_limits PUBLIC cxx_std_17)
target_include_directories(iiwa_spline_limits PRIVATE include)
ament_target_dependencies(iiwa_spline_limits rclcpp moveit_core moveit_ros_planning pluginlib sensor_msgs)
pluginlib_export_plugin_description_file(moveit_core planning_response_plugins.xml)
install(TARGETS iiwa_spline_limits LIBRARY DESTINATION lib)
if(BUILD_TESTING)
enable_testing()
add_executable(test_spline_limits test/test_spline_limits.cpp)
target_compile_features(test_spline_limits PRIVATE cxx_std_17)
target_compile_options(test_spline_limits PRIVATE -UNDEBUG)
target_include_directories(test_spline_limits PRIVATE include)
add_test(NAME spline_limits COMMAND test_spline_limits)
find_package(joint_trajectory_controller REQUIRED)
add_executable(test_jtc_interpolation test/test_jtc_interpolation.cpp)
target_compile_features(test_jtc_interpolation PRIVATE cxx_std_17)
target_compile_options(test_jtc_interpolation PRIVATE -UNDEBUG)
target_include_directories(test_jtc_interpolation PRIVATE include)
ament_target_dependencies(test_jtc_interpolation joint_trajectory_controller)
add_test(NAME jtc_interpolation COMMAND test_jtc_interpolation)
add_executable(test_response_adapter test/test_response_adapter.cpp)
target_compile_options(test_response_adapter PRIVATE -UNDEBUG)
ament_target_dependencies(test_response_adapter moveit_core moveit_ros_planning pluginlib)
add_test(NAME response_adapter COMMAND test_response_adapter)
add_executable(test_start_state_monitor test/test_start_state_monitor.cpp)
target_compile_options(test_start_state_monitor PRIVATE -UNDEBUG)
target_include_directories(test_start_state_monitor PRIVATE include)
ament_target_dependencies(test_start_state_monitor rclcpp sensor_msgs)
add_test(NAME start_state_monitor COMMAND test_start_state_monitor)
set_tests_properties(start_state_monitor PROPERTIES ENVIRONMENT "ROS_DOMAIN_ID=231;ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST" TIMEOUT 15)
add_test(NAME direct_trajectory COMMAND ${Python3_EXECUTABLE} -m pytest -q ${CMAKE_CURRENT_SOURCE_DIR}/test/test_prepare_trajectory.py)
set_tests_properties(direct_trajectory PROPERTIES ENVIRONMENT "PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}:${CMAKE_CURRENT_SOURCE_DIR}:$ENV{PYTHONPATH}")
endif()
add_executable(motion_planning_cpp src/motion_planning_cpp.cpp)
target_include_directories(motion_planning_cpp PUBLIC include)