Parameters used by MoveIt

[tylerjw]

There are two basic ways that parameters are declared in moveit. In some cases automatically_declare_parameters_from_overrides is set and parameters are automatically declared from what is in yaml files. The second way is with the delcare_parameter method on rclcpp::Node.

Below I've cataloged the parameter usage by MoveIt. Calling out the two ways that parameters get declared and in what file that happens. Then I listed each parameter and its type that is explicitly declared.

I propose we work on a unified design for our parameter names so the configs become more consistent and easy to use before changing how we declare parameters in the code.

automatically_declare_parameters_from_overrides

• moveit_cpp_test.cpp
• move_group.cpp
• trajectory_execution_manager.cpp
• RunBenchmark.cpp
• CombinePredefinedPosesBenchmark.cpp
• save_as_text.cpp
• import_from_text.cpp
• broadcast.cpp
• save_to_warehouse.cpp
• initialize_demo_db.cpp
• warehouse_services.cpp
• hybrid_planning_demo_node.cpp
• cartesian_limits_aggregator.cpp
• joint_limits_aggregator.cpp
• unittest_trajectory_generator_circ.cpp
• unittest_trajectory_generator_lin.cpp
• unittest_trajectory_functions.cpp
• unittest_trajectory_blender_transition_window.cpp
• unittest_trajectory_generator_ptp.cpp
• unittest_joint_limits_aggregator.cpp
• unittest_planning_context_loaders.cpp
• unittest_pilz_industrial_motion_planner.cpp
• unittets_planning_context.cpp
• unittest_trajectory_generator_common.cpp
• test_kinematics_plugin.cpp

declare_parameters

setup_assistant_widget.cpp

• setup_steps - string_array

urdf_config.cpp

• robot_description - string

srdf_config.cpp

• robot_description_semantic - string

planning_scene_monitor.cpp

• publish_planning_scene - bool
• publish_geometry_updates - bool
• publish_state_updates - bool
• publish_transforms_updates - bool
• publish_planning_scene_hz - double

robot_model_loader.cpp

• robot_description_planning.joint_limits.(joint_name_map).max_position - double
• robot_description_planning.joint_limits.(joint_name_map).min_position - double
• robot_description_planning.joint_limits.(joint_name_map).has_velocity_limits - bool
• robot_description_planning.joint_limits.(joint_name_map).has_jerk_limits - bool
• robot_description_planning.joint_limits.(joint_name_map).max_velocity - double
• robot_description_planning.joint_limits.(joint_name_map).max_acceleration - double
• robot_description_planning.joint_limits.(joint_name_map).max_jerk - double

kinematics_plugin_loader.cpp

• (srdf_group_name_map).kinematics_solver - string
• robot_description_kinematics.(srdf_group_name_map).kinematics_solver - string
• (srdf_group_name_map).kinematics_solver_timeout - double
• robot_description_kinematics.(srdf_group_name_map).kinematics_solver_timeout - double
• (srdf_group_name_map).kinematics_solver_search_resolution - double
• robot_description_kinematics.(srdf_group_name_map).kinematics_solver_search_resolution - double
• (srdf_group_name_map).kinematics_solver_ik_links - string_array
• robot_description_kinematics.(srdf_group_name_map).kinematics_solver_ik_links - string_array

synchronized_string_parameter.cpp

• (node name)_continuous - bool
• (node name)_timeout - double
• (node name) - string
• publish_(node_name) - bool

boring_string_publisher.cpp

• topic - string
• content_path - string

motion_planning_frame.cpp

• warehouse_host - string
• warehouse_plugin - string
• warehouse_port - int
• (move group ns)default_planning_pipeline - string

pose_tracking.cpp

• moveit_servo.planning_frame - string
• moveit_servo.move_group_name - string
• moveit_servo.publish_period - double
• moveit_servo.windup_limit - double
• moveit_servo.x_proportional_gain - double
• moveit_servo.y_proportional_gain - double
• moveit_servo.z_proportional_gain - double
• moveit_servo.x_integral_gain - double
• moveit_servo.y_integral_gain - double
• moveit_servo.z_integral_gain - double
• moveit_servo.x_derivative_gain - double
• moveit_servo.y_derivative_gain - double
• moveit_servo.z_derivative_gain - double
• moveit_servo.angular_proportional_gain - double
• moveit_servo.angular_integral_gain - double
• moveit_servo.angular_derivative_gain - double

servo_parameters.cpp

• (node name).use_gazebo - bool
• (node name).status_topic - string
• (node name).cartesian_command_in_topic - string
• (node name).joint_command_in_topic - string
• (node name).robot_link_command_frame - string
• (node name).command_in_type - string
• (node name).scale.linear - double
• (node name).scale.rotational - double
• (node name).scale.joint - double
• (node name).override_velocity_scaling_factor - double
• (node name).command_out_topic - string
• (node name).publish_period - double
• (node name).command_out_type - string
• (node name).publish_joint_positions - bool
• (node name).publish_joint_velocities - bool
• (node name).publish_joint_accelerations - bool
• (node name).joint_topic - string
• (node name).smoothing_filter_plugin_name - string
• (node name).move_group_name - string
• (node name).ee_frame_name - string
• (node name).is_primary_planning_scene_monitor - bool
• (node name).monitored_planning_scene_topic - string
• (node name).incoming_command_timeout - double,
• (node name).num_outgoing_halt_msgs_to_publish - int
• (node name).halt_all_joints_in_joint_mode - bool
• (node name).halt_all_joints_in_cartesian_mode - bool
• (node name).lower_singularity_threashold - double
• (node name).hard_stop_singularity_threashold - double
• (node name).joint_limit_margin - double
• (node name).check_collisions - bool
• (node name).collision_check_rate - double
• (node name).self_collision_proximity_threshold - double
• (node name).scene_collision_proximity_threshold - double

unit_test_servo_calcs.cpp

• robot_description - string
• robot_description_semantic - string

test_basic_integration.cpp

• hybrid_planning_action_name - string

local_plannier_component.h

• group_name - string
• trajectory_operator_plugin_name - string
• local_constraint_solver_plugin_name - string
• local_planning_action_name - string
• local_planning_frequency - double
• global_solution_topic - string
• local_solution_topic - string
• local_solution_topic_type - string
• publish_joint_positions - bool
• publish_joint_velocities - bool
• monitored_planning_scene - string
• collision_object_topic - string
• joint_states_topic - string

forward_trajectory.cpp

• stop_before_collision - bool

moveit_planning_pipeline.cpp

• planning_pipelines.pipeline_names - string_array
• planning_pipelines.namespace - string
• plan_request_params.planner_id - string
• plan_request_params.planning_pipeline - string
• plan_request_params.planning_attempts - int
• plan_request_params.planning_time - double
• plan_request_params.max_velocity_scaling_factor - double
• plan_request_params.max_acceleration_scaling_factor - double
• ompl.planning_plugin - string
• planning_scene_monitor_options.name - string
• planning_scene_monitor_options.robot_description - string
• planning_scene_monitor_options.joint_state_topic - string
• planning_scene_monitor_options.attached_collision_object_topic - string
• planning_scene_monitor_options.publish_planning_scene_topic - string
• planning_scene_monitor_options.monitored_planning_scene_topic - string
• planning_scene_monitor_options.wait_for_initial_state_timeout - double
• moveit_controller_manager - string

global_planner_component.cpp

• global_planning_action_name - string
• global_planner_name - string

hybrid_planning_manager.cpp

• planner_logic_plugin_name - string
• local_planning_action_name - string
• global_planning_action_name - string
• hybrid_planning_action_name - string

cartesian_limits_aggregator.cpp

• robot_description_planning.cartesian_limits.max_trans_vel - double
• robot_description_planning.cartesian_limits.max_trans_acc - double
• robot_description_planning.cartesian_limits.max_trans_dec - double
• robot_description_planning.cartesian_limits.max_rot_vel - double
• robot_description_planning.cartesian_limits.max_rot_acc - double
• robot_description_planning.cartesian_limits.max_rot_dec - double

joint_limits_interface_extension.h

• (param_ns).joint_limits.(joint_name_map).has_deceration_limits - bool
• (param_ns).joint_limits.(joint_name_map).max_deceleration - double

joint_limits_rosparam.hpp

• (param_ns).joint_limits.(joint_name_map).has_deceration_limits - bool
• (param_ns).joint_limits.(joint_name_map).has_position_limits - bool
• (param_ns).joint_limits.(joint_name_map).min_position - double
• (param_ns).joint_limits.(joint_name_map).max_position - double
• (param_ns).joint_limits.(joint_name_map).has_velocity_limits - bool
• (param_ns).joint_limits.(joint_name_map).min_velocity - double
• (param_ns).joint_limits.(joint_name_map).max_velocity - double
• (param_ns).joint_limits.(joint_name_map).has_acceleration_limits - bool
• (param_ns).joint_limits.(joint_name_map).max_acceleration - double
• (param_ns).joint_limits.(joint_name_map).has_jerk_limits - bool
• (param_ns).joint_limits.(joint_name_map).max_jerk - double
• (param_ns).joint_limits.(joint_name_map).has_effort_limits - bool
• (param_ns).joint_limits.(joint_name_map).max_effort - double
• (param_ns).joint_limits.(joint_name_map).angle_wraparound - bool
• (param_ns).joint_limits.(joint_name_map).has_soft_limits - bool
• (param_ns).joint_limits.(joint_name_map).k_position - double
• (param_ns).joint_limits.(joint_name_map).k_velocity - double
• (param_ns).joint_limits.(joint_name_map).soft_lower_limit - double
• (param_ns).joint_limits.(joint_name_map).soft_upper_limit - double

controller_manager_plugin.cpp

• ros_control_namespace - string

[tylerjw]

There is a third way I'm finding all over the code base and that is calling has_parameter and then get_parameter if the first function returns true. An example of this is OMPLInterface

There is a forth way, that in affect is similar to the third way, which is calling get_parameter_or. An example of this is CHOMPInterface.