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add start goal to req #36

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e93f91c
add start goal to req
Jul 15, 2024
e2d14f0
Merge remote-tracking branch 'origin/main' into rgy.0715.start_goal_req
Jul 15, 2024
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5 changes: 5 additions & 0 deletions examples/planning/python/requirements.txt
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Original file line number Diff line number Diff line change
@@ -0,0 +1,5 @@
protobuf>=3.19.4
grpcio>=1.60.0
grpcio-tools>=1.60.0
pyyaml>=5.3.1
click>=8.1.7
7 changes: 5 additions & 2 deletions proto/planning/builder.proto
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Expand Up @@ -34,11 +34,14 @@ message StartBuildRequest {
// Data used to construct a sample-based PRM. The resulting discrete edges
// will be used to seed the IRIS regions.
RoadmapData roadmap_data = 5;
// start and goal system confs for problem to solve and insert into db
SystemConf start_sysconf = 6;
SystemConf goal_sysconf = 7;
}
}

// Response which contains the result of attempting to start computation of a
// solution for the corresponding StartBuildRequest.
/** Response which contains the result of attempting to start computation of a
* solution for the corresponding StartBuildFromConfsRequest. */
Comment on lines +37 to +44

@davebambrick davebambrick Jul 15, 2024 •
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I commented this on the planning_service PR, but I think we'd probably want to break out the "update roadmap" call into its own RPC. An example could be something like:

message UpdateRoadmapRequest {
  // Definitions of motion plans to be solved.
  repeated ProblemDef pdef = 1;
  // Options passed to the solver.
  UpdateRoadmapOptions options = 2;
}

message UpdateRoadmapResponse {
  // Metrics of the resultant solution.
  SolutionMetrics metrics = 1;
}

service IrisBuilder {
  [...]
  // Update the roadmap by solving a set of motion problems and saving their results.
  rpc UpdateRoadmap(UpdateRoadmapRequest) 
    returns (UpdateRoadmapResponse) {}
}

message StartBuildResponse {
// ID of request. Used to track job status.
string id = 1;
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