Specify retime_trajectory parameters as arguments.

[mmurooka]

Description

This PR makes it possible to specify retime_trajectory parameters as arguments in Python interface of move_group.

Checklist

• [ ] Required by CI: Code is auto formatted using clang-format
• [ ] Extend the tutorials / documentation reference
• [ ] Document API changes relevant to the user in the MIGRATION.md notes
• [ ] Create tests, which fail without this PR reference
• [ ] Include a screenshot if changing a GUI
• [ ] While waiting for someone to review your request, please help review another open pull request to support the maintainers

[mmurooka]

Thank you for comments, and sorry for late reply. I updated as the following comment:

keep the parameters of retime_trajectory unchanged, call retime_trajectory_totg, retime_trajectory_itpt etc

(Original version is copied here: https://github.com/ros-planning/moveit/compare/master...mmurooka:retime-param-all-argument-orig )

I don't know if this is the best, so please let me know if there is a better way. As an implementation choice, C++ function can also be separated by algorithms although one common function is used at present: https://github.com/ros-planning/moveit/blob/b8c4c2e2f09db8f1c6794a643c264e1e7c06f874/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp#L487-L491 This makes passing dummy arguments of other algorithms unnecessary: https://github.com/ros-planning/moveit/blob/b8c4c2e2f09db8f1c6794a643c264e1e7c06f874/moveit_commander/src/moveit_commander/move_group.py#L606-L607

[felixvd]

More like sorry for our late response. This has been lying around for a while.

I wasn't aware that the C++ implementation had all the parameters in the top-level function. It's not very pretty. Feel free to change it if you like, but it's not needed to merge this PR.

I don't see a problem with this at first sight, but I haven't tested it. You can restart Travis by closing and re-opening this PR. It looks like CI might have failed for unrelated reasons.

[v4hn]

By now there is also a file conflict that needs to be resolved.

[mmurooka]

rebased origin/master and resolved conflicts. but it's a bit hard to test this PR in my own environment now.

[codecov[bot]]

Codecov Report

Merging #1706 into master will decrease coverage by 0.04%. The diff coverage is 0.00%.

@@            Coverage Diff             @@
##           master    #1706      +/-   ##
==========================================
- Coverage   57.71%   57.66%   -0.05%     
==========================================
  Files         326      326              
  Lines       25663    25663              
==========================================
- Hits        14811    14799      -12     
- Misses      10852    10864      +12     

Impacted Files	Coverage Δ
...ove_group_interface/src/wrap_python_move_group.cpp	43.03% <0.00%> (ø)
...e/src/parameterization/model_based_state_space.cpp	70.34% <0.00%> (-2.76%)	:arrow_down:
moveit_core/robot_model/src/joint_model_group.cpp	59.39% <0.00%> (-2.43%)	:arrow_down:
...nning_scene_monitor/src/planning_scene_monitor.cpp	69.89% <0.00%> (-0.15%)	:arrow_down:
...meterization/work_space/pose_model_state_space.cpp	82.99% <0.00%> (+0.68%)	:arrow_up:

---

Continue to review full report at Codecov.

Legend - Click here to learn more Δ = absolute <relative> (impact), ø = not affected, ? = missing data Powered by Codecov. Last update d6666a9...4d6637d. Read the comment docs.

[v4hn]

@felixvd @mmurooka Are you interested enough in this PR to clean it up and get it merged? Sorry for the timeouts, we are low on active maintainers who look at stuff like this.