Add time factor support for trajectory time parametrization

[skohlbr]

This adds support for setting a motion_execution_time_factor in the MotionPlanRequest msg, which can be used to scale the velocity bounds in add_time_parametrization.

Includes necessary changes to

• move_group
• move_group_interface
• Spinbox for motion planning rviz plugin

Requires other pulls requests in moveit_msgs and moveit_core which are stated below.

[mikeferguson]

Should this really have changed? Seems this might be affecting something else?

[skohlbr]

I'll revert and test this. It appears a bit weird that the number of planning attempts is set in a QDoubleSpinBox. This should be a plain (integer) SpinBox. Maybe fodder for another (unrelated) Pull Request.

[davetcoleman]

Great job with this! I implemented a similar feature just a few weeks ago, but only in moveit_core. This is much needed.

I'm not sure I like the term "motion_execution_time_factor", isn't it more a "motion_execution_velocity_factor" ? In my version I just named it 'velocity_scale'.

I'm also curious what we should do about the max acceleration limits - should it also be scaled? The same amount? This might be naive question, I haven't looked into it much though.

[davetcoleman]

Could you add a quick screenshot of the UI change?

[mikeferguson]

Hold on merging this until the moveit_msgs release makes it through the pipeline

[skohlbr]

@davetcoleman Here's a screenshot of the UI change. I think it makes the motion planning widget a little bit larger.

[davetcoleman]

That's what I was afraid of... the UI is already too wide IMHO. Can we name it something shorter like Velocity Scale?

[skohlbr]

I think it only got higher, not wider. Will make a tad shorter as suggested nevertheless.

[skohlbr]

Changed label from "Execution Time Factor:" to "Velocity Scaling:":

[davetcoleman]

moveit_msgs is in shadow-fixed http://www.ros.org/debbuild/indigo.html?q=moveit_msgs

[davetcoleman]

I have confirmed it slows down trajectories when displayed in REALTIME in the motion planning rviz plugin.

[mikeferguson]

Thanks for merging -- I'll push new releases shortly

[mikeferguson]

Released new moveit_core in order to get this building again.