Address review

moveit_configs_utils/default_configs/chomp_planning.yaml

@@ -1,6 +1,7 @@
 planning_plugin: chomp_interface/CHOMPPlanner
 enable_failure_recovery: true
 jiggle_fraction: 0.05
+# The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline.
 request_adapters:
   - default_planner_request_adapters/ResolveConstraintFrames
   - default_planner_request_adapters/FixWorkspaceBounds

moveit_configs_utils/default_configs/ompl_planning.yaml

@@ -1,6 +1,7 @@
 planning_plugin: ompl_interface/OMPLPlanner
 start_state_max_bounds_error: 0.1
 jiggle_fraction: 0.05
+# The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline.
 request_adapters:
   - default_planner_request_adapters/ResolveConstraintFrames
   - default_planner_request_adapters/FixWorkspaceBounds

moveit_configs_utils/default_configs/pilz_industrial_motion_planner_planning.yaml

@@ -1,4 +1,5 @@
 planning_plugin: pilz_industrial_motion_planner/CommandPlanner
+# The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline.
 request_adapters: ""
 default_planner_config: PTP
 capabilities: >-

moveit_configs_utils/default_configs/stomp_planning.yaml

@@ -1,4 +1,5 @@
 planning_plugin: stomp_moveit/StompPlanner
+# The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline.
 request_adapters:
   - default_planner_request_adapters/ResolveConstraintFrames
   - default_planner_request_adapters/FixWorkspaceBounds

moveit_core/planning_interface/include/moveit/planning_interface/planning_response_adapter.h

@@ -38,7 +38,6 @@
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/planning_interface/planning_interface.h>
-#include <functional>
 #include <rclcpp/logging.hpp>
 #include <rclcpp/node.hpp>
 

moveit_planners/stomp/stomp_moveit_plugin_description.xml

@@ -4,10 +4,4 @@
       STOMP Motion Planning Plugin for MoveIt
     </description>
   </class>
-  <class name="stomp_moveit/StompSmoothingAdapter" type="stomp_moveit::StompSmoothingAdapter"
-         base_class_type="planning_interface::PlanningRequestAdapter">
-    <description>
-      STOMP Smoothing Adapter for MoveIt
-    </description>
-  </class>
 </library>

moveit_ros/planning/default_request_adapters_plugin_description.xml

@@ -1,10 +1,5 @@
 <library path="moveit_default_planning_request_adapter_plugins">
 
-  <class name="default_planner_request_adapters/Empty" type="default_planner_request_adapters::Empty" base_class_type="planning_interface::PlanningRequestAdapter">
-    <description>
-    </description>
-  </class>
-
   <class name="default_planner_request_adapters/FixStartStateBounds" type="default_planner_request_adapters::FixStartStateBounds" base_class_type="planning_interface::PlanningRequestAdapter">
     <description>
     </description>

moveit_ros/planning/default_response_adapters_plugin_description.xml

@@ -2,7 +2,7 @@
 
   <class name="default_planner_response_adapters/AddTimeOptimalParameterization" type="default_planner_response_adapters::AddTimeOptimalParameterization" base_class_type="planning_interface::PlanningResponseAdapter">
     <description>
-      This is an improved time parameterization using Time-Optimal Trajectory Generation for Path Following With Bounded Acceleration and Velocity (Kunz and Stilman, RSS 2008). Assumes starting and ending at rest. Not jerk limited.
+      Time parameterization using Time-Optimal Trajectory Generation for Path Following With Bounded Acceleration and Velocity (Kunz and Stilman, RSS 2008). Assumes starting and ending at rest. Not jerk limited.
     </description>
   </class>
 

moveit_ros/planning/planning_pipeline/include/moveit/planning_pipeline/planning_pipeline.h

@@ -126,10 +126,11 @@ void loadPluginVector(const std::shared_ptr<rclcpp::Node>& node,
     }
     else
     {
-      RCLCPP_WARN(node->get_logger(), "Failed to load adapter '%s'", plugin_name.c_str());
+      RCLCPP_WARN(node->get_logger(), "Failed to initialize adapter '%s'", plugin_name.c_str());
     }
   }
 };
+
 }  // namespace
 /** \brief This class facilitates loading planning plugins and planning adapter plugins. It implements functionality to
  * use the loaded plugins in a motion planning pipeline consisting of PlanningRequestAdapters (Pre-processing), a
@@ -149,19 +150,25 @@ class MOVEIT_PLANNING_PIPELINE_EXPORT PlanningPipeline
 
   /** \brief Given a robot model, a ROS node and a parameter namespace, initialize the planning pipeline. The planner plugin
      and adapters are provided in form of ROS parameters. The order of the elements in the adapter vectors corresponds
-     to the order in the motion planning pipeline. \param model The robot model for which this pipeline is initialized.
-      \param node The ROS node that should be used for reading parameters needed for configuration
-      \param parameter_namespace parameter namespace where the planner configurations are stored
+     to the order in the motion planning pipeline.
+     \param model The robot model for which this pipeline is initialized.
+     \param node The ROS node that should be used for reading parameters needed for configuration
+     \param parameter_namespace parameter namespace where the planner configurations are stored
   */
   PlanningPipeline(const moveit::core::RobotModelConstPtr& model, const std::shared_ptr<rclcpp::Node>& node,
                    const std::string& parameter_namespace);
 
   /** \brief Given a robot model, a ROS node and a parameter namespace, initialize the planning pipeline with the given
      planner plugin and adapters. The order of the elements in the adapter vectors corresponds to the order in the
-     motion planning pipeline. \param model The robot model for which this pipeline is initialized. \param node The ROS
-     node that should be used for reading parameters needed for configuration \param parameter_namespace Parameter
-     namespace where the planner configurations are stored \param request_adapter_plugin_names Optional vector of
-     RequestAdapter plugin names \param response_adapter_plugin_names Optional vector of ResponseAdapter plugin names
+     motion planning pipeline.
+     \param model The robot model for which this pipeline is initialized.
+     \param node The ROS
+     node that should be used for reading parameters needed for configuration
+     \param parameter_namespace Parameter
+     namespace where the planner configurations are stored
+     \param request_adapter_plugin_names Optional vector of
+     RequestAdapter plugin names
+     \param response_adapter_plugin_names Optional vector of ResponseAdapter plugin names
   */
   PlanningPipeline(const moveit::core::RobotModelConstPtr& model, const std::shared_ptr<rclcpp::Node>& node,
                    const std::string& parameter_namespace, const std::string& planning_plugin_name,
@@ -228,7 +235,7 @@ class MOVEIT_PLANNING_PIPELINE_EXPORT PlanningPipeline
     return pipeline_parameters_.request_adapters;
   }
 
-  /** \brief Get the names of the planning response adapter plugins used */
+  /** \brief Get the names of the planning response adapter plugins in the order they are processed. */
   [[nodiscard]] const std::vector<std::string>& getResponseAdapterPluginNames() const
   {
     return pipeline_parameters_.response_adapters;

moveit_ros/planning/planning_pipeline/res/planning_pipeline_parameters.yaml

@@ -6,11 +6,11 @@ planning_pipeline_parameters:
   }
   request_adapters: {
     type: string_array,
-    description: "Names of the planning request adapter plugins (Order in chain is similar to array order).",
+    description: "Names of the planning request adapter plugins (plugin names separated by space). The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline..",
     default_value: [],
   }
   response_adapters: {
     type: string_array,
-    description: "Names of the planning request adapter plugins (Order in chain is similar to array order).",
+    description: "Names of the planning request adapter plugins (plugin names separated by space). The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline.",
     default_value: [],
   }