// =========================================================================
// Logging Scheduler
// ==========================================================================
void LoggingScheduler::Run() {
// Run the txns according to the schedule
if (!concurrent) {
for (auto itr = sequence.begin(); itr != sequence.end(); itr++) {
auto front_id = itr->second.front;
auto backend_id = itr->second.back;
PL_ASSERT(front_id != INVALID_LOGGER_IDX);
// frontend logger's turn
if (backend_id == INVALID_LOGGER_IDX) {
LOG_INFO("Execute Frontend Thread %d", (int)front_id);
frontend_threads[front_id].go = true;
while (frontend_threads[front_id].go) {
std::chrono::milliseconds sleep_time(1);
std::this_thread::sleep_for(sleep_time);
}
LOG_INFO("Done Frontend Thread %d", (int)front_id);
} else {
// backend logger's turn
LOG_INFO("Execute Backend Thread (%d, %d)", (int)front_id,
(int)backend_id % num_backend_logger_per_frontend);
backend_threads[backend_id].go = true;
while (backend_threads[backend_id].go) {
std::chrono::milliseconds sleep_time(1);
std::this_thread::sleep_for(sleep_time);
}
LOG_INFO("Done Backend Thread (%d, %d)", (int)front_id,
(int)backend_id % num_backend_logger_per_frontend);
}
}
}
}
int ManageGridOptimize::svc()
{
REPORT_THREAD_INFO();
PlayerGridOperationVec_t player_grid_op_vec;
ACE_Time_Value sleep_time(0, 1000);
while (!m_is_stop)
{
player_grid_op_vec.clear();
{
ACE_GUARD_RETURN(ACE_Thread_Mutex, guard, m_player_grid_op_vec_mutex, -1);
std::copy(m_player_grid_op_vec.begin(), m_player_grid_op_vec.end(), std::back_inserter(player_grid_op_vec));
m_player_grid_op_vec.clear();
}
if (player_grid_op_vec.empty())
{
ACE_OS::sleep(sleep_time);
continue;
}
for (PlayerGridOperationVec_t::iterator it = player_grid_op_vec.begin(); it != player_grid_op_vec.end(); ++it)
{
PlayerGridOperation * pgo = *it;
process(*pgo);
delete pgo;
}
}
return 0;
}
int PacketConvert::svc()
{
REPORT_THREAD_INFO();
Packet * packet = NULL;
MSG_TYPE * protobuf_msg = NULL;
PackInfo pack_info;
PacketVec_t packet_vec;
ACE_Time_Value sleep_time(0, 1 * 1000);
while (!m_is_stop)
{
packet_vec.clear();
{
ACE_GUARD_RETURN(ACE_Thread_Mutex, guard, m_packet_vec_mutex, -2);
std::copy(m_packet_vec.begin(), m_packet_vec.end(), std::back_inserter(packet_vec));
m_packet_vec.clear();
}
if (packet_vec.empty())
{
ACE_OS::sleep(sleep_time);
continue;
}
for (PacketVec_t::iterator it = packet_vec.begin(); it != packet_vec.end(); ++it)
{
packet = *it;
if (packet->opcode() == SMSG_TIMER_OCCUR)
{
pack_info.guid = packet->guid();
pack_info.opcode = packet->opcode();
pack_info.msg = NULL;
m_scene_imp->packInput(new PackInfo(pack_info.opcode, pack_info.guid, pack_info.msg));
}
else
{
protobuf_msg = NULL;
if (extractPacket(packet, protobuf_msg))
{
pack_info.guid = packet->guid();
pack_info.opcode = packet->opcode();
pack_info.msg = protobuf_msg;
PackInfo * pi = new PackInfo(pack_info.opcode, pack_info.guid, pack_info.msg);
pi->owner = packet->getOwner();
m_scene_imp->packInput(pi);
}
else
{
DEF_LOG_ERROR("failed to extract message from packet, opcode is <%d>, guid is <%s>\n", packet->opcode(), boost::lexical_cast<string>(packet->guid()).c_str());
}
}
delete packet;
}
}
return 0;
}
int ManageMemberSessionOutput::svc()
{
ACE_Time_Value sleep_time(0, 1000);
PacketVec_t output_packet_vec;
while (true)
{
{
ACE_GUARD_RETURN(ACE_Thread_Mutex, guard, m_output_packet_vec_mutex, 1);
std::copy(m_output_packet_vec.begin(), m_output_packet_vec.end(), std::back_inserter(output_packet_vec));
m_output_packet_vec.clear();
}
if (output_packet_vec.size() == 0)
{
ACE_OS::sleep(sleep_time);
continue;
}
for (PacketVec_t::iterator it = output_packet_vec.begin(); it != output_packet_vec.end(); ++it)
{
Packet * packet = *it;
processPacket(packet);
}
output_packet_vec.clear();
}
return 0;
}
void thread_sleep_v3(const tick_count::interval_t &i)
{
#if _WIN32||_WIN64
tick_count t0 = tick_count::now();
tick_count t1 = t0;
for(;;) {
double remainder = (i-(t1-t0)).seconds()*1e3; // milliseconds remaining to sleep
if( remainder<=0 ) break;
DWORD t = remainder>=INFINITE ? INFINITE-1 : DWORD(remainder);
#if !__TBB_WIN8UI_SUPPORT
Sleep( t );
#else
std::chrono::milliseconds sleep_time( t );
std::this_thread::sleep_for( sleep_time );
#endif
t1 = tick_count::now();
}
#else
struct timespec req;
double sec = i.seconds();
req.tv_sec = static_cast<long>(sec);
req.tv_nsec = static_cast<long>( (sec - req.tv_sec)*1e9 );
nanosleep(&req, NULL);
#endif // _WIN32||_WIN64
}
void UserMappingGridmap::PeriodicGridmapFileReload() {
struct stat st;
// Monitor changes to the gridmap file.
while (true) {
boost::posix_time::seconds sleep_time(gridmap_reload_interval_s_);
boost::this_thread::sleep(sleep_time);
int ierr = stat(gridmap_file_.c_str(), &st);
if (ierr) {
if (Logging::log->loggingActive(LEVEL_WARN)) {
Logging::log->getLog(LEVEL_WARN)
<< "Failed to check if the gridmap file has changed."
" Is it temporarily not available? Path to file: "
<< gridmap_file_ << " Error: " << ierr << endl;
}
continue;
}
if (st.st_mtime != date_ || st.st_size != size_) {
if (Logging::log->loggingActive(LEVEL_INFO)) {
Logging::log->getLog(LEVEL_INFO)
<< "File changed. Updating all entries." << endl;
}
ReadGridmapFile();
date_ = st.st_mtime;
size_ = st.st_size;
}
}
}
int ManageLogger::svc()
{
int wait_index = 0;
ACE_Time_Value sleep_time(0, 1 * 1000);
LoggerCtn_t logger_ctn;
LoggerSet_t logger_flush_set;
while (!m_stop)
{
logger_ctn.clear();
// get the copy of logger content
{
ACE_GUARD_RETURN(ACE_Thread_Mutex, guard, m_logger_mutex, -1);
if (!m_logger_ctn.empty())
{
std::copy(m_logger_ctn.begin(), m_logger_ctn.end(), std::back_inserter(logger_ctn));
m_logger_ctn.clear();
}
}
// if logger is empty, continue
if (logger_ctn.empty())
{
{
ACE_GUARD_RETURN(ACE_Thread_Mutex, guard, m_logger_flush_set_mutex, -1);
if (m_logger_flush_set.size() > 0)
{
for (LoggerSet_t::iterator it = m_logger_flush_set.begin(); it != m_logger_flush_set.end(); ++it)
{
logger_flush_set.insert(*it);
}
}
}
if (m_need_flush)
{
m_need_flush = false;
flushLogger(logger_flush_set);
}
else
{
ACE_OS::sleep(sleep_time);
}
continue;
}
m_need_flush = true;
for (LoggerCtn_t::iterator it = logger_ctn.begin(); it != logger_ctn.end(); ++it)
{
doLogging(it->first, it->second);
}
}
m_wait = false;
return 0;
}
void rt_sleep(int msec) {
#if !WIN8UI_EXAMPLE
Sleep(msec);
#else
std::chrono::milliseconds sleep_time( msec );
std::this_thread::sleep_for( sleep_time );
#endif
}
int MakeGuid::svc()
{
typed::protocol::RequestGuid request_guid;
request_guid.set_request_no(m_request_no);
ACE_Time_Value timeout_v(1, 0);
ACE_Message_Block recv_buffer(255);
MAKE_NEW_PACKET(ps, SMSG_GUID_REQUEST, 0, request_guid.SerializeAsString());
ACE_Time_Value sleep_time(0, 10 * 1000);
ACE_Time_Value start_time;
ACE_Time_Value diff_time;
while (true)
{
ACE_OS::sleep(sleep_time);
{
ACE_GUARD_RETURN(ACE_Thread_Mutex, guard, m_guid_info_que_mutex, -1);
if (m_guid_info_que.size() > 0)
{
continue;
}
}
start_time = ACE_OS::gettimeofday();
int send_n = m_sock_stream.send_n(ps->stream(), ps->stream_size());
if (send_n == ps->stream_size())
{
bool parsed_packet = false;
recv_buffer.crunch();
while (!parsed_packet)
{
int recv_n = m_sock_stream.recv(recv_buffer.wr_ptr(), recv_buffer.space(), &timeout_v);
if (recv_n > 0)
{
recv_buffer.wr_ptr(recv_n);
parsed_packet = parsePack(recv_buffer);
if (parsed_packet)
{
diff_time = ACE_OS::gettimeofday() - start_time;
ACE_UINT64 dt = 0;
diff_time.to_usec(dt);
DEF_LOG_INFO("request time is : <%s>\n", boost::lexical_cast<string>(dt).c_str());
}
}
else
{
// error
}
}
}
else
{
// error
}
}
}
void Widget::on_pushButton_clicked()
{
boost::thread worker([](){
boost::posix_time::seconds sleep_time(3);
boost::this_thread::sleep(sleep_time);
qDebug() << "thread about to be finished!" << endl;
});
worker.join();
}
bool A53IntAider(int cpu, int seq, void * data)
{
unsigned long n=(unsigned long)(data);
LOG_INFO()<<"cpu: "<<cpu<<" A53 INT called\n";
LOG_INFO()<<"cpu: "<<cpu<<" will sleep "<<n<<" seconds\n";
std::chrono::milliseconds sleep_time(n*1000);
std::this_thread::sleep_for(sleep_time);
LOG_INFO()<<"cpu: "<<cpu<<" DONE\n";
return true;
}
// =======================================================================
// Abstract Logging Thread
// =======================================================================
void AbstractLoggingThread::MainLoop() {
while (true) {
while (!go) {
std::chrono::milliseconds sleep_time(1);
std::this_thread::sleep_for(sleep_time);
};
ExecuteNext();
if (cur_seq == (int)schedule->operations.size()) {
go = false;
return;
}
go = false;
}
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "subscribe_unsubscribe_repeatedly");
ros::NodeHandle nh;
ros::Duration sleep_time(0, 100000000);
while(ros::ok())
{
sleep_time.sleep();
ros::Subscriber sub = nh.subscribe("test_roscpp/pubsub_test", 1, callback);
sleep_time.sleep();
}
return 0;
}
int ManageMemberSessionCooler::svc()
{
ACE_Time_Value sleep_time(0, 10 * 1000);
MemberSessionSet_t lost_connection_set;
while (true)
{
{
ACE_GUARD_RETURN(ACE_Thread_Mutex, guard, m_lost_connection_set_mutex, 1);
for (MemberSessionSet_t::iterator it = m_lost_connection_set.begin(); it != m_lost_connection_set.end(); ++it)
{
lost_connection_set.insert(*it);
}
m_lost_connection_set.clear();
}
uint64 curr_time = 0;
ACE_OS::gettimeofday().to_usec(curr_time);
{
for (MemberSessionSet_t::iterator it = lost_connection_set.begin(); it != lost_connection_set.end(); ++it)
{
cleanMemberSession(*it);
m_cleaned_connection_que.push(new CoolerInfo(*it, curr_time));
}
lost_connection_set.clear();
}
if (m_cleaned_connection_que.size() == 0)
{
ACE_OS::sleep(sleep_time);
continue;
}
while (m_cleaned_connection_que.size() > 0)
{
CoolerInfo * coller_info = m_cleaned_connection_que.front();
if ((curr_time - coller_info->close_time) >= 15)
{
m_cleaned_connection_que.pop();
delete coller_info;
}
else
{
break;
}
}
}
return 0;
}
void TransactionTest(concurrency::TransactionManager *txn_manager) {
uint64_t thread_id = TestingHarness::GetInstance().GetThreadId();
for (oid_t txn_itr = 1; txn_itr <= 50; txn_itr++) {
txn_manager->BeginTransaction();
if (thread_id % 2 == 0) {
std::chrono::microseconds sleep_time(1);
std::this_thread::sleep_for(sleep_time);
}
if (txn_itr % 25 != 0) {
txn_manager->CommitTransaction();
} else {
txn_manager->AbortTransaction();
}
}
}
/*----------------------------------------------------------------------
| ShowResponse
+---------------------------------------------------------------------*/
static void
ShowResponse(NPT_HttpResponse* response)
{
bool check_available = true;//true;
// show entity
NPT_HttpEntity* entity = response->GetEntity();
if (entity == NULL) return;
NPT_Console::OutputF("ENTITY: length=%lld, type=%s, encoding=%s\n",
entity->GetContentLength(),
entity->GetContentType().GetChars(),
entity->GetContentEncoding().GetChars());
NPT_DataBuffer buffer(65536);
NPT_Result result;
NPT_InputStreamReference input;
entity->GetInputStream(input);
NPT_TimeStamp start;
NPT_System::GetCurrentTimeStamp(start);
float total_read = 0.0f;
for (;;) {
NPT_Size bytes_read = 0;
NPT_LargeSize available = 0;
NPT_Size to_read = 65536;
if (check_available) {
input->GetAvailable(available);
if ((NPT_Size)available < to_read) to_read = (NPT_Size)available;
if (to_read == 0) {
to_read = 1;
NPT_TimeStamp sleep_time(0.01f);
NPT_System::Sleep(sleep_time);
}
}
result = input->Read(buffer.UseData(), to_read, &bytes_read);
if (NPT_FAILED(result)) break;
total_read += bytes_read;
NPT_TimeStamp now;
NPT_System::GetCurrentTimeStamp(now);
NPT_TimeStamp duration = now-start;
NPT_Console::OutputF("%6d avail, read %6d bytes, %6.3f KB/s\n", (int)available, bytes_read, (float)((total_read/1024.0)/(double)duration));
}
}
/**
* This is where we send all the test messages. Depending o the
* argument, either we read a static XML evnt from a file (and thus
* there is no XML conversion overhead incurred), or we instantiate
* and populate a struct Query_struct for every message and convert
* it to XML format using a QMS_Remos_Msg object on the fly.
*/
void
generate_query(void)
{
QMS_Trace ("generate_query", __LINE__, __FILE__);
DEBUG0 (DEBUG_L_ENTER, "DEBUG Thread Created\n");
ACE_Time_Value sleep_time (QMS_DEFAULT_retry_sleep_interval * ACE_OS::rand()%30, 0);
DEBUG0 (DEBUG_L_CALL, "DEBUG Thread sleeping\n");
ACE_Thread::yield();
ACE_OS::sleep (sleep_time);
DEBUG0 (DEBUG_L_CALL, "DEBUG Thread awake\n");
if (filename_p)
{
file_message(filename_p);
}
else
{
mock_message();
}
DEBUG0 (DEBUG_L_LEAVE, "DEBUG Thread all done, exiting\n");
}
int ManageTimer::svc()
{
REPORT_THREAD_INFO();
ACE_Time_Value sleep_time(0, 100 * 1000);
ACE_Time_Value curr_time;
ACE_Time_Value * curr_timeout;
while (!m_is_stop)
{
if (!m_is_trigger)
{
ACE_OS::sleep(sleep_time);
continue;
}
if (m_timer_queue->is_empty())
{
ACE_OS::sleep(sleep_time);
continue;
}
curr_time = m_timer_queue->gettimeofday ();
curr_timeout = m_timer_queue->calculate_timeout(&curr_time);
if (*curr_timeout == ACE_Time_Value::zero)
{
m_timer_queue->expire();
}
else
{
// DEF_LOG_DEBUG("sleep time , year<%s>, \n", boost::lexical_cast<string>(next_timeout_time.sec()).c_str());
ACE_OS::sleep(*curr_timeout);
m_timer_queue->expire();
}
}
return 0;
}
TEST_F(CheckpointTests, CheckpointModeTransitionTest) {
logging::LoggingUtil::RemoveDirectory("pl_checkpoint", false);
auto &log_manager = logging::LogManager::GetInstance();
auto &checkpoint_manager = logging::CheckpointManager::GetInstance();
checkpoint_manager.DestroyCheckpointers();
checkpoint_manager.Configure(CHECKPOINT_TYPE_NORMAL, true, 1);
// launch checkpoint thread, wait for standby mode
auto thread = std::thread(&logging::CheckpointManager::StartStandbyMode,
&checkpoint_manager);
checkpoint_manager.WaitForModeTransition(peloton::CHECKPOINT_STATUS_STANDBY,
true);
// Clean up table tile state before recovery from checkpoint
log_manager.PrepareRecovery();
// Do any recovery
checkpoint_manager.StartRecoveryMode();
// Wait for standby mode
checkpoint_manager.WaitForModeTransition(CHECKPOINT_STATUS_DONE_RECOVERY,
true);
// Now, enter CHECKPOINTING mode
checkpoint_manager.SetCheckpointStatus(CHECKPOINT_STATUS_CHECKPOINTING);
auto checkpointer = checkpoint_manager.GetCheckpointer(0);
while (checkpointer->GetCheckpointStatus() !=
CHECKPOINT_STATUS_CHECKPOINTING) {
std::chrono::milliseconds sleep_time(10);
std::this_thread::sleep_for(sleep_time);
}
checkpoint_manager.SetCheckpointStatus(CHECKPOINT_STATUS_INVALID);
thread.join();
}
int OutputSessionPool::svc()
{
REPORT_THREAD_INFO();
OutputSessionThreadInfo output_session_thread_info;
registerOutputSessionThreadinfo(&output_session_thread_info);
m_actived = true;
CellSessionSet_t cell_session_set;
int write_result = 1;
ACE_Time_Value sleep_time(0, 1000);
while (!m_stop)
{
{
ACE_GUARD_RETURN(ACE_Thread_Mutex, guard, output_session_thread_info.mutex, -1);
for (CellSessionSet_t::iterator it = output_session_thread_info.remove_cell_session_set.begin(); it != output_session_thread_info.remove_cell_session_set.end(); ++it)
{
CellSessionSet_t::iterator find_it = cell_session_set.find(*it);
if (find_it != cell_session_set.end())
{
CellSessionx * cell = *find_it;
cell_session_set.erase(find_it);
m_session_pool->removeSession(cell);
}
else
{
// error
}
}
output_session_thread_info.remove_cell_session_set.clear();
for (CellSessionSet_t::iterator it = output_session_thread_info.add_cell_session_set.begin(); it != output_session_thread_info.add_cell_session_set.end(); ++it)
{
cell_session_set.insert(*it);
}
output_session_thread_info.add_cell_session_set.clear();
}
write_result = 1;
for (CellSessionSet_t::iterator it = cell_session_set.begin(); it != cell_session_set.end(); )
{
CellSessionx * cell_session = *it;
if (NULL == cell_session)
{
continue;
}
int wr = cell_session->wt_stream();
if (-1 == wr)
{
cell_session_set.erase(it++);
}
else if (1 == wr)
{
// empty write
++it;
}
else
{
write_result = 0;
++it;
}
}
if (1 == write_result)
{
// all empty write
ACE_OS::sleep(sleep_time);
}
}
m_wait = false;
return 0;
}
void sendCommad(){
ros::Duration sleep_time(0.1);
bool error = false;
unsigned int num_req;
while(nh_.ok() && ros::ok() && !error){
num_req = getRequestNum();
if (num_req > 0){
KukaRequest req = getRequest();
pop(); // TODO
// Check option
switch (req.opt_){
case STOP:
// Send Stop
error = kuka_.stop();
ROS_WARN_NAMED(name_, "Sending stop request to KUKA robot.");
break;
case PTP:
// Send PTP command
kuka_.setJointPosition(req.data_.ptp_goal);
ROS_DEBUG_NAMED(name_, "Sending PTP request to KUKA robot.");
break;
case VEL:
// Send PTP command
kuka_.setOverrideSpeed(req.data_.vel);
ROS_DEBUG_NAMED(name_, "Sending velocity override request to KUKA robot.");
break;
// case HOME:
// // Send Home
// for(unsigned int i=0; i<6; i++) req.data_.ptp_goal[i]=0.0*rad2deg+offset_[i];
// kuka_.setJointPosition(req.data_.ptp_goal);
// ROS_DEBUG_NAMED(name_, "Sending HOME request to KUKA robot.");
// break;
default:
ROS_ERROR_NAMED(name_, "Undefined option type.");
}
sleep_time = ros::Duration(0.1);
}
// Update joint state
else if (num_req == 0) {
ROS_DEBUG_NAMED(name_, "Update request to KUKA robot.");
// Call KUKA update
kuka_.update();
// Reset delta position and norm values
double norm = 0.0;
for (unsigned int i = 0; i < 6; ++i) position_d_[i] = joint_state_.position[i];
// Get joint position
kuka_.getJointPosition(joint_state_.position);
// Offset and rad convertion
for (unsigned int i = 0; i < 6; ++i)
{
joint_state_.position[i] = (joint_state_.position[i] - offset_[i])*deg2rad;
position_d_[i] -= joint_state_.position[i];
norm += position_d_[i]*position_d_[i];
}
//norm = sqrt(norm);
if ( norm < 0.01 ) sleep_time = ros::Duration(1);
ROS_DEBUG_NAMED(name_, "Norma: %.2f", norm);
// Publish joint state
joint_state_.header.stamp = ros::Time::now();
joint_state_.header.seq++;
joint_state_pub_.publish(joint_state_);
}
ROS_DEBUG_THROTTLE_NAMED(0.2, name_, "Current number of req %i", getRequestNum());
sleep_time.sleep();
}
}
//------------------------------------------------------------------------------
/// Initialize and configure the SDRAM
//------------------------------------------------------------------------------
void BOARD_ConfigureSdram(unsigned char busWidth)
{
static const Pin pinsSdram[] = {PINS_SDRAM};
volatile unsigned int *pSdram = (unsigned int *) AT91C_EBI_SDRAM;
unsigned short sdrc_dbw = 0;
switch (busWidth) {
case 16:
sdrc_dbw = AT91C_B16MODE_16_BITS;
break;
case 32:
default:
sdrc_dbw = AT91C_B16MODE_32_BITS;
break;
}
// Enable corresponding PIOs
PIO_Configure(pinsSdram, 1);
WRITE(AT91C_BASE_SDDRC, SDDRC_MDR , AT91C_MD_SDR_SDRAM
| sdrc_dbw); // SDRAM type 3.3V
WRITE(AT91C_BASE_SDDRC, SDDRC_CR , AT91C_NC_DDR10_SDR9
| AT91C_NR_13
| AT91C_CAS_3); // row = 13, column = 9 SDRAM CAS = 3
WRITE(AT91C_BASE_SDDRC, SDDRC_LPR , 0x00000000); // Low power register => Low-power is inhibited // No define
sleep_time(50000); // --------- WAIT ---------
WRITE(AT91C_BASE_SDDRC, SDDRC_MR, AT91C_MODE_NOP_CMD); // NOP command
pSdram[0] = 0x00000000; // Dummy read to access SDRAM : validate preceeding command
WRITE(AT91C_BASE_SDDRC, SDDRC_MR, AT91C_MODE_NOP_CMD); // NOP command
pSdram[0] = 0x00000000; // Dummy read to access SDRAM : validate preceeding command
WRITE(AT91C_BASE_SDDRC, SDDRC_MR, AT91C_MODE_NOP_CMD); // NOP command
pSdram[0] = 0x00000000; // Dummy read to access SDRAM : validate preceeding command
WRITE(AT91C_BASE_SDDRC, SDDRC_MR, AT91C_MODE_PRCGALL_CMD); // Precharge All Banks command
pSdram[0] = 0x00000000; // Dummy read to access SDRAM : validate preceeding command
sleep_time(50000); // --------- WAIT ---------
WRITE(AT91C_BASE_SDDRC, SDDRC_MR, AT91C_MODE_RFSH_CMD); // AutoRefresh command
pSdram[0] = 0x00000000; // Dummy read to access SDRAM : validate preceeding command
sleep_time(50000); // --------- WAIT ---------
WRITE(AT91C_BASE_SDDRC, SDDRC_MR, AT91C_MODE_RFSH_CMD); // AutoRefresh command
pSdram[0] = 0x00000000; // Dummy read to access SDRAM : validate preceeding command
sleep_time(50000); // --------- WAIT ---------
WRITE(AT91C_BASE_SDDRC, SDDRC_MR, AT91C_MODE_LMR_CMD); // Set MR JEDEC compliant : Load mode Register command
pSdram[19] = 0x5a5a5b5b; // Perform LMR burst=1, lat=2
WRITE(AT91C_BASE_SDDRC, SDDRC_MR, AT91C_MODE_NORMAL_CMD); // Set Normal mode : Any access to the DDRSDRAMC is decoded normally
pSdram[0] = 0x00000000; // Dummy read to access SDRAM : validate preceeding command
WRITE(AT91C_BASE_SDDRC, SDDRC_RTR, 781); // Set Refresh Timer (ex: ((64 x 10^-3)/8192) x 100 x 10^6 ) => 781 for 100 MHz
WRITE(AT91C_BASE_SDDRC, SDDRC_HS, AT91C_OVL); // High speed register : Optimization is disabled
sleep_time(50000); // --------- WAIT ---------
}
int main(int argc, char **argv)
{
ros::init (argc, argv, "move_group_tutorial");
ros::AsyncSpinner spinner(1);
spinner.start();
ros::NodeHandle node_handle("motion_planner_api");
robot_model_loader::RobotModelLoader robot_model_loader("robot_description");
robot_model::RobotModelPtr robot_model = robot_model_loader.getModel();
planning_scene::PlanningScenePtr planning_scene(new planning_scene::PlanningScene(robot_model));
boost::scoped_ptr<pluginlib::ClassLoader<planning_interface::PlannerManager> > planner_plugin_loader;
planning_interface::PlannerManagerPtr planner_instance;
std::string planner_plugin_name;
if (!node_handle.getParam("/move_group/planning_plugin", planner_plugin_name))
ROS_FATAL_STREAM("Could not find planner plugin name");
try
{
planner_plugin_loader.reset(new pluginlib::ClassLoader<planning_interface::PlannerManager>("moveit_core", "planning_interface::PlannerManager"));
}
catch(pluginlib::PluginlibException& ex)
{
ROS_FATAL_STREAM("Exception while creating planning plugin loader " << ex.what());
}
try
{
planner_instance.reset(planner_plugin_loader->createUnmanagedInstance(planner_plugin_name));
if (!planner_instance->initialize(robot_model, node_handle.getNamespace()))
ROS_FATAL_STREAM("Could not initialize planner instance");
ROS_INFO_STREAM("Using planning interface '" << planner_instance->getDescription() << "'");
}
catch(pluginlib::PluginlibException& ex)
{
const std::vector<std::string> &classes = planner_plugin_loader->getDeclaredClasses();
std::stringstream ss;
for (std::size_t i = 0 ; i < classes.size() ; ++i)
ss << classes[i] << " ";
ROS_ERROR_STREAM("Exception while loading planner '" << planner_plugin_name << "': " << ex.what() << std::endl << "Available plugins: " << ss.str());
}
ros::WallDuration sleep_time(15.0);
sleep_time.sleep();
planning_interface::MotionPlanRequest req;
planning_interface::MotionPlanResponse res;
geometry_msgs::PoseStamped pose;
pose.header.frame_id = "odom";
pose.pose.position.x = -0.0119214;
pose.pose.position.y = 0.0972478;
pose.pose.position.z = 0.636616;
pose.pose.orientation.x = 0.273055;
pose.pose.orientation.y = -0.891262;
pose.pose.orientation.z = -0.346185;
pose.pose.orientation.w = 0.106058;
group.setPoseTarget(target_pose1);
moveit::planning_interface::MoveGroup::Plan my_plan;
bool success = group.plan(my_plan);
if (1)
{
ROS_INFO("Visualizing plan 1 (again)");
display_trajectory.trajectory_start = my_plan.start_state_;
display_trajectory.trajectory.push_back(my_plan.trajectory_);
display_publisher.publish(display_trajectory);
/* Sleep to give Rviz time to visualize the plan. */
sleep(5.0);
}
std::vector<double> group_variable_values;
group.getCurrentState()->copyJointGroupPositions(group.getCurrentState()->getRobotModel()->getJointModelGroup(group.getName()), group_variable_values);
group_variable_values[4] = -1.0;
group.setJointValueTarget(group_variable_values);
success = group.plan(my_plan);
ROS_INFO("Visualizing plan 2 (joint space goal) %s",success?"":"FAILED");
sleep(5.0);
return 0;
}
int main(int argc, char **argv)
{
/*Initialise Variables*/
CAPTURE_MOVEMENT=false;//know when you have reach the maximum of points to handle
//Creating the joint_msg_leap
joint_msg_leap.name.resize(8);
joint_msg_leap.position.resize(8);
joint_msg_leap.name[0]="arm_1_joint";
joint_msg_leap.name[1]="arm_2_joint";
joint_msg_leap.name[2]="arm_3_joint";
joint_msg_leap.name[3]="arm_4_joint";
joint_msg_leap.name[4]="arm_5_joint";
joint_msg_leap.name[5]="arm_6_joint";
joint_msg_leap.name[6]="base_joint_gripper_left";
joint_msg_leap.name[7]="base_joint_gripper_right";
aux_enter=1;
FIRST_VALUE=true;//Help knowing Initial Position of the hand
int arm_trajectory_point=1;
collision_detection::CollisionRequest collision_request;
collision_detection::CollisionResult collision_result;
/*Finish Variables Initialitation*/
//ROS DECLARATION
ros::init(argc, argv,"listener");
if (argc != 2)
{
ROS_WARN("WARNING: you should specify number of points to capture");
}
else
{
count=atoi(argv[1]);
ROS_INFO ("Number of points /n%d", count);
}
//Create an object of the LeapMotionListener Class
LeapMotionListener leapmotionlistener;
leapmotionlistener.Configure(count);
//ros::NodeHandle node_handle;
ros::NodeHandle node_handle("~");
// start a ROS spinning thread
ros::AsyncSpinner spinner(1);
spinner.start();
//we need this for leap
ros::Rate r(1);
//robo_pub = n.advertise<sensor_msgs::JointState>("joint_leap", 100);
//Creating a Robot Model
robot_model_loader::RobotModelLoader robot_model_loader("robot_description");
robot_model::RobotModelPtr robot_model = robot_model_loader.getModel();
//Initialise PlanningSceneMonitorPtr
/* MOVEIT Setup*/
// ^^^^^
moveit::planning_interface::MoveGroup group("arm");
group.setPlanningTime(0.5);
moveit::planning_interface::MoveGroup::Plan my_plan;
// We will use the :planning_scene_interface:`PlanningSceneInterface`
// class to deal directly with the world.
moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
/* Adding/Removing Objects and Attaching/Detaching Objects*/
ROS_INFO("CREATING PLANNING_SCENE PUBLISHER");
ros::Publisher planning_scene_diff_publisher = node_handle.advertise<moveit_msgs::PlanningScene>("/planning_scene", 1);
while(planning_scene_diff_publisher.getNumSubscribers() < 1)
{
ros::WallDuration sleep_t(0.5);
sleep_t.sleep();
}
ROS_INFO("CREATING COLLISION OBJECT");
moveit_msgs::AttachedCollisionObject attached_object;
attached_object.link_name = "";
/* The header must contain a valid TF frame*/
attached_object.object.header.frame_id = "gripper_left";
/* The id of the object */
attached_object.object.id = "box";
/* A default pose */
geometry_msgs::Pose posebox;
posebox.orientation.w = 1.0;
/* Define a box to be attached */
shape_msgs::SolidPrimitive primitive;
primitive.type = primitive.BOX;
primitive.dimensions.resize(3);
primitive.dimensions[0] = 0.1;
primitive.dimensions[1] = 0.1;
primitive.dimensions[2] = 0.1;
attached_object.object.primitives.push_back(primitive);
attached_object.object.primitive_poses.push_back(posebox);
attached_object.object.operation = attached_object.object.ADD;
ROS_INFO("ADDING COLLISION OBJECT TO THE WORLD");
moveit_msgs::PlanningScene planning_scene_msg;
planning_scene_msg.world.collision_objects.push_back(attached_object.object);
planning_scene_msg.is_diff = true;
planning_scene_diff_publisher.publish(planning_scene_msg);
//sleep_time.sleep();
/* First, define the REMOVE object message*/
moveit_msgs::CollisionObject remove_object;
remove_object.id = "box";
remove_object.header.frame_id = "odom_combined";
remove_object.operation = remove_object.REMOVE;
/* Carry out the REMOVE + ATTACH operation */
ROS_INFO("Attaching the object to the right wrist and removing it from the world.");
planning_scene_msg.world.collision_objects.clear();
planning_scene_msg.world.collision_objects.push_back(remove_object);
planning_scene_msg.robot_state.attached_collision_objects.push_back(attached_object);
planning_scene_diff_publisher.publish(planning_scene_msg);
//sleep_time.sleep();
// Create a publisher for visualizing plans in Rviz.
ros::Publisher display_publisher = node_handle.advertise<moveit_msgs::DisplayTrajectory>("/move_group/display_planned_path", 1, true);
planning_scene::PlanningScenePtr planning_scene(new planning_scene::PlanningScene(robot_model,collision_detection::WorldPtr(new collision_detection::World())));
//Creating planning_scene_monitor
boost::shared_ptr<tf::TransformListener> tf(new tf::TransformListener(ros::Duration(2.0)));
planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor(new planning_scene_monitor::PlanningSceneMonitor(planning_scene,"robot_description", tf));
planning_scene_monitor->startSceneMonitor();
//planning_scene_monitor->initialize(planning_scene);
planning_pipeline::PlanningPipeline *planning_pipeline= new planning_pipeline::PlanningPipeline(robot_model,node_handle,"planning_plugin", "request_adapters");
/* Sleep a little to allow time to startup rviz, etc. */
ros::WallDuration sleep_time(20.0);
sleep_time.sleep();
/*end of MOVEIT Setup*/
// We can print the name of the reference frame for this robot.
ROS_INFO("Reference frame: %s", group.getPlanningFrame().c_str());
// We can also print the name of the end-effector link for this group.
ROS_INFO("Reference frame: %s", group.getEndEffectorLink().c_str());
// Planning to a Pose goal 1
// ^^^^^^^^^^^^^^^^^^^^^^^
// We can plan a motion for this group to a desired pose for the
// end-effector
ROS_INFO("Planning to INITIAL POSE");
planning_interface::MotionPlanRequest req;
planning_interface::MotionPlanResponse res;
geometry_msgs::PoseStamped pose;
pose.header.frame_id = "/odom_combined";
pose.pose.position.x = 0;
pose.pose.position.y = 0;
pose.pose.position.z = 1.15;
pose.pose.orientation.w = 1.0;
std::vector<double> tolerance_pose(3, 0.01);
std::vector<double> tolerance_angle(3, 0.01);
old_pose=pose;
// We will create the request as a constraint using a helper function available
req.group_name = "arm";
moveit_msgs::Constraints pose_goal = kinematic_constraints::constructGoalConstraints("gripper_base_link", pose, tolerance_pose, tolerance_angle);
req.goal_constraints.push_back(pose_goal);
// Now, call the pipeline and check whether planning was successful.
planning_pipeline->generatePlan(planning_scene, req, res);
/* Check that the planning was successful */
if(res.error_code_.val != res.error_code_.SUCCESS)
{
ROS_ERROR("Could not compute plan successfully");
return 0;
}
// Visualize the result
// ^^^^^^^^^^^^^^^^^^^^
/* Visualize the trajectory */
moveit_msgs::DisplayTrajectory display_trajectory;
ROS_INFO("Visualizing the trajectory 1");
moveit_msgs::MotionPlanResponse response;
res.getMessage(response);
display_trajectory.trajectory_start = response.trajectory_start;
display_trajectory.trajectory.push_back(response.trajectory);
display_publisher.publish(display_trajectory);
//sleep_time.sleep();
/* End Planning to a Pose goal 1*/
// First, set the state in the planning scene to the final state of the last plan
robot_state::RobotState& robot_state = planning_scene->getCurrentStateNonConst();
//planning_scene->setCurrentState(response.trajectory_start);
joint_model_group = robot_state.getJointModelGroup("arm");
robot_state.setJointGroupPositions(joint_model_group, response.trajectory.joint_trajectory.points.back().positions);
spinner.stop();
/*Capturing Stage*/
/*****************/
ROS_INFO("PRESH ENTER TO START CAPTURING POINTS");
while (getline(std::cin,s))
{
if ('\n' == getchar())
break;
}
/* SENSOR SUBSCRIBING */
//LEAP MOTION
ROS_INFO("SUBSCRIBING LEAPMOTION");
ros::Subscriber leapsub = node_handle.subscribe("/leapmotion/data", 1000, &LeapMotionListener::leapmotionCallback, &leapmotionlistener);
ros::Subscriber trajectorysub = node_handle.subscribe("/move_group/", 1000, &LeapMotionListener::leapmotionCallback, &leapmotionlistener);
while(!CAPTURE_MOVEMENT==true)
{
ros::spinOnce();
}
leapsub.shutdown();
ROS_INFO("CAPTURING POINTS FINISH...PROCESSING POINTS");
// End of Capturing Stage
/* Start Creating Arm Trajectory*/
/**********************************/
ROS_INFO("START CREATING ARM TRAJECTORY");
for (unsigned i=0; i<trajectory_hand.size(); i++)
{
//First we set the initial Position of the Hand
if (FIRST_VALUE)
{
dataLastHand_.palmpos.x=trajectory_hand.at(i).palmpos.x;
dataLastHand_.palmpos.y=trajectory_hand.at(i).palmpos.y;
dataLastHand_.palmpos.z=trajectory_hand.at(i).palmpos.z;
FIRST_VALUE=0;
ROS_INFO("ORIGINAL POSITION OF THE HAND SET TO \n X: %f\n Y: %f\n Z: %f\n ",trajectory_hand.at(i).palmpos.x,trajectory_hand.at(i).palmpos.y,trajectory_hand.at(i).palmpos.z);
sleep(2);
}
else
{
// Both limits for x,y,z to avoid small changes
Updifferencex=dataLastHand_.palmpos.x+10;
Downdifferencex=dataLastHand_.palmpos.x-10;
Updifferencez=dataLastHand_.palmpos.z+10;
Downdifferencez=dataLastHand_.palmpos.z-20;
Updifferencey=dataLastHand_.palmpos.y+20;
Downdifferencey=dataLastHand_.palmpos.y-20;
if ((trajectory_hand.at(i).palmpos.x<Downdifferencex)||(trajectory_hand.at(i).palmpos.x>Updifferencex)||(trajectory_hand.at(i).palmpos.y<Downdifferencey)||(trajectory_hand.at(i).palmpos.y>Updifferencey)||(trajectory_hand.at(i).palmpos.z<Downdifferencez)||(trajectory_hand.at(i).palmpos.z>Updifferencez))
{
ros::AsyncSpinner spinner(1);
spinner.start();
ROS_INFO("TRYING TO ADD POINT %d TO TRAJECTORY",arm_trajectory_point);
// Cartesian Paths
// ^^^^^^^^^^^^^^^
// You can plan a cartesian path directly by specifying a list of waypoints
// for the end-effector to go through. Note that we are starting
// from the new start state above. The initial pose (start state) does not
// need to be added to the waypoint list.
pose.header.frame_id = "/odom_combined";
pose.pose.orientation.w = 1.0;
pose.pose.position.y +=(trajectory_hand.at(i).palmpos.x-dataLastHand_.palmpos.x)/500 ;
pose.pose.position.z +=(trajectory_hand.at(i).palmpos.y-dataLastHand_.palmpos.y)/1000 ;
if(pose.pose.position.z>Uplimitez)
pose.pose.position.z=Uplimitez;
pose.pose.position.x +=-(trajectory_hand.at(i).palmpos.z-dataLastHand_.palmpos.z)/500 ;
ROS_INFO("END EFFECTOR POSITION \n X: %f\n Y: %f\n Z: %f\n", pose.pose.position.x,pose.pose.position.y,pose.pose.position.z);
ROS_INFO("Palmpos \n X: %f\n Y: %f\n Z: %f\n ",trajectory_hand.at(i).palmpos.x,trajectory_hand.at(i).palmpos.y,trajectory_hand.at(i).palmpos.z);
// We will create the request as a constraint using a helper function available
ROS_INFO("1");
pose_goal= kinematic_constraints::constructGoalConstraints("gripper_base_link", pose, tolerance_pose, tolerance_angle);
ROS_INFO("2");
req.goal_constraints.push_back(pose_goal);
// Now, call the pipeline and check whether planning was successful.
planning_pipeline->generatePlan(planning_scene, req, res);
ROS_INFO("3");
if(res.error_code_.val != res.error_code_.SUCCESS)
{
ROS_ERROR("Could not compute plan successfully");
pose=old_pose;
}
else
{
// Now when we plan a trajectory it will avoid the obstacle
res.getMessage(response);
collision_result.clear();
collision_detection::AllowedCollisionMatrix acm = planning_scene->getAllowedCollisionMatrix();
robot_state::RobotState copied_state = planning_scene->getCurrentState();
planning_scene->checkCollision(collision_request, collision_result, copied_state, acm);
ROS_INFO_STREAM("Collision Test "<< (collision_result.collision ? "in" : "not in")<< " collision");
arm_trajectory_point++;
// Visualize the trajectory
ROS_INFO("VISUALIZING NEW POINT");
//req.goal_constraints.clear();
display_trajectory.trajectory_start = response.trajectory_start;
ROS_INFO("AXIS 1 NEXT TRAJECTORY IS %f\n",response.trajectory_start.joint_state.position[1] );
display_trajectory.trajectory.push_back(response.trajectory);
// Now you should see two planned trajectories in series
display_publisher.publish(display_trajectory);
planning_scene->setCurrentState(response.trajectory_start);
if (planning_scene_monitor->updatesScene(planning_scene))
{
ROS_INFO("CHANGING STATE");
planning_scene_monitor->updateSceneWithCurrentState();
}
else
{
ROS_ERROR("NOT POSSIBLE TO CHANGE THE SCENE");
}
robot_state.setJointGroupPositions(joint_model_group, response.trajectory.joint_trajectory.points.back().positions);
req.goal_constraints.clear();
old_pose=pose;
dataLastHand_.palmpos.x=trajectory_hand.at(i).palmpos.x;
dataLastHand_.palmpos.y=trajectory_hand.at(i).palmpos.y;
dataLastHand_.palmpos.z=trajectory_hand.at(i).palmpos.z;
}
//sleep(2);
spinner.stop();
}
}
}
//ros::Subscriber myogestsub = n.subscribe("/myo_gest", 1000, myogestCallback);
return 0;
}
int main(int argc, char **argv)
{
int motion = 0;
std::string initialpath = "";
if (argc >= 2)
{
motion = atoi(argv[1]);
if(argc >=3)
{
initialpath = argv[2];
}
}
printf("%d Motion %d\n", argc, motion);
ros::init(argc, argv, "move_itomp");
ros::AsyncSpinner spinner(1);
spinner.start();
ros::NodeHandle node_handle("~");
robot_model_loader::RobotModelLoader robot_model_loader(
"robot_description");
robot_model::RobotModelPtr robot_model = robot_model_loader.getModel();
planning_scene::PlanningScenePtr planning_scene(
new planning_scene::PlanningScene(robot_model));
boost::scoped_ptr<pluginlib::ClassLoader<planning_interface::PlannerManager> > planner_plugin_loader;
planning_interface::PlannerManagerPtr planner_instance;
std::string planner_plugin_name;
if (!node_handle.getParam("planning_plugin", planner_plugin_name))
ROS_FATAL_STREAM("Could not find planner plugin name");
try
{
planner_plugin_loader.reset(
new pluginlib::ClassLoader<planning_interface::PlannerManager>(
"moveit_core", "planning_interface::PlannerManager"));
} catch (pluginlib::PluginlibException& ex)
{
ROS_FATAL_STREAM(
"Exception while creating planning plugin loader " << ex.what());
}
try
{
planner_instance.reset(
planner_plugin_loader->createUnmanagedInstance(
planner_plugin_name));
if (!planner_instance->initialize(robot_model,
node_handle.getNamespace()))
ROS_FATAL_STREAM("Could not initialize planner instance");
ROS_INFO_STREAM(
"Using planning interface '" << planner_instance->getDescription() << "'");
} catch (pluginlib::PluginlibException& ex)
{
const std::vector<std::string> &classes =
planner_plugin_loader->getDeclaredClasses();
std::stringstream ss;
for (std::size_t i = 0; i < classes.size(); ++i)
ss << classes[i] << " ";
ROS_ERROR_STREAM(
"Exception while loading planner '" << planner_plugin_name << "': " << ex.what() << std::endl << "Available plugins: " << ss.str());
}
loadStaticScene(node_handle, planning_scene, robot_model);
/* Sleep a little to allow time to startup rviz, etc. */
ros::WallDuration sleep_time(1.0);
sleep_time.sleep();
renderStaticScene(node_handle, planning_scene, robot_model);
// We will now create a motion plan request
// specifying the desired pose of the end-effector as input.
planning_interface::MotionPlanRequest req;
planning_interface::MotionPlanResponse res;
std::vector<robot_state::RobotState> robot_states;
int state_index = 0;
robot_states.push_back(planning_scene->getCurrentStateNonConst());
robot_states.push_back(robot_states.back());
Eigen::VectorXd start_trans, goal_trans;
// set trajectory constraints
std::vector<Eigen::VectorXd> waypoints;
std::vector<std::string> hierarchy;
// internal waypoints between start and goal
if(initialpath.empty())
{
hierarchy.push_back("base_prismatic_joint_x");
hierarchy.push_back("base_prismatic_joint_y");
hierarchy.push_back("base_prismatic_joint_z");
hierarchy.push_back("base_revolute_joint_z");
hierarchy.push_back("base_revolute_joint_y");
hierarchy.push_back("base_revolute_joint_x");
Eigen::VectorXd vec1;
start_trans = Eigen::VectorXd(6); start_trans << 0.0, 1.0, 0.0,0,0,0;
goal_trans = Eigen::VectorXd(6); goal_trans << 0.0, 2.5, 0.0,0,0,0;
vec1 = Eigen::VectorXd(6); vec1 << 0.0, 1.5, 1.0,0,0,0;
waypoints.push_back(vec1);
vec1 = Eigen::VectorXd(6); vec1 << 0.0, 2.0, 2.0,0,0,0;
waypoints.push_back(vec1);
vec1 = Eigen::VectorXd(6); vec1 << 0.0, 2.5, 1.0,0,0,0;
waypoints.push_back(vec1);
}
else
{
hierarchy = InitTrajectoryFromFile(waypoints, initialpath);
start_trans = waypoints.front();
goal_trans = waypoints.back();
}
setWalkingStates(robot_states[state_index], robot_states[state_index + 1],
start_trans, goal_trans, hierarchy);
for (int i = 0; i < waypoints.size(); ++i)
{
moveit_msgs::Constraints configuration_constraint =
setRootJointConstraint(hierarchy, waypoints[i]);
req.trajectory_constraints.constraints.push_back(
configuration_constraint);
}
displayStates(robot_states[state_index], robot_states[state_index + 1],
node_handle, robot_model);
doPlan("whole_body", req, res, robot_states[state_index],
robot_states[state_index + 1], planning_scene, planner_instance);
visualizeResult(res, node_handle, 0, 1.0);
ROS_INFO("Done");
planner_instance.reset();
return 0;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "task_queue_client_ltl");
ros::NodeHandle node_handle;
ros::AsyncSpinner spinner(1);
spinner.start();
sleep(10.0);
ros::ServiceClient client_a = node_handle.serviceClient<pr2_moveit_ltl::automaton_gen_msg>("automaton_gen_ltl");
ros::ServiceClient client_p = node_handle.serviceClient<pr2_moveit_ltl::task_queue_msg>("plan_gen_ltl");
pr2_moveit_ltl::automaton_gen_msg srv_auto;
srv_auto.request.client = "auto_gen_client_ltl";
pr2_moveit_ltl::automaton automata;
if (client_a.call(srv_auto))
{
automata = srv_auto.response.automata;
std::cout << "Automata:" << automata.name << std::endl;
}
else
{
ROS_ERROR("Failed to call service plan_gen_ltl");
return 1;
}
pr2_moveit_ltl::task_queue_msg srv;
srv.request.name = "task_queue_client_ltl";
srv.request.automata = automata;
pr2_moveit_ltl::proposition props[10];
bool plan = false;
int size = 0;
if (client_p.call(srv))
{
size = srv.response.size;
int i = 0;
for(std::vector<pr2_moveit_ltl::proposition>::const_iterator it = srv.response.propositions.begin(); it != srv.response.propositions.end(); ++it)
{
props[i] = *it;
i++;
}
ROS_INFO("service plan_gen_ltl on");
plan = true;
}
else
{
ROS_ERROR("Failed to call service plan_gen_ltl");
return 1;
}
//Para planear
moveit::planning_interface::MoveGroup group("base");
moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
ros::Publisher display_publisher = node_handle.advertise<moveit_msgs::DisplayTrajectory>("/move_group/display_planned_path", 1, true);
moveit_msgs::DisplayTrajectory display_trajectory;
//Collision objects
ros::Publisher collision_object_publisher = node_handle.advertise<moveit_msgs::CollisionObject>("collision_object", 1);
while(collision_object_publisher.getNumSubscribers() < 1)
{
ros::WallDuration sleep_t(0.5);
sleep_t.sleep();
}
//Agregar objeto que colisiona
moveit_msgs::CollisionObject co;
co.header.frame_id = group.getPlanningFrame();
co.id= "muros";
shapes::Mesh* m = shapes::createMeshFromResource("package://pr2_moveit_ltl/models/ENV_6.dae");
shape_msgs::Mesh co_mesh;
shapes::ShapeMsg co_mesh_msg;
shapes::constructMsgFromShape(m,co_mesh_msg);
co_mesh = boost::get<shape_msgs::Mesh>(co_mesh_msg);
co.meshes.resize(1);
co.meshes[0] = co_mesh;
co.mesh_poses.resize(1);
co.mesh_poses[0].position.x = -5.0;
co.mesh_poses[0].position.y = -5.0;
co.mesh_poses[0].position.z = 0.0;
co.mesh_poses[0].orientation.w= 0.7071;
co.mesh_poses[0].orientation.x= 0.7071 ;
co.mesh_poses[0].orientation.y= 0.0;
co.mesh_poses[0].orientation.z= 0.0;
co.meshes.push_back(co_mesh);
co.mesh_poses.push_back(co.mesh_poses[0]);
co.operation = co.ADD;
/* Publish and sleep (to view the visualized results) */
collision_object_publisher.publish(co);
ros::WallDuration sleep_time(10.0);
sleep_time.sleep();
std::vector<moveit_msgs::CollisionObject> collision_objects;
collision_objects.push_back(co);
planning_scene_interface.addCollisionObjects(collision_objects);
sleep(10.0);
/*
* Para planear
*/
if(plan){
for(int j = 0; j < size; j++){
// First get the current set of joint values for the group.
std::vector<double> group_variable_values;
group.getCurrentState()->copyJointGroupPositions(group.getCurrentState()->getRobotModel()->getJointModelGroup(group.getName()), group_variable_values);
// Now, let's modify one of the joints, plan to the new joint
// space goal and visualize the plan.
group_variable_values[0] = props[j].point.x;
group_variable_values[1] = props[j].point.y;
group_variable_values[2] = props[j].point.z;
group.setJointValueTarget(group_variable_values);
moveit::planning_interface::MoveGroup::Plan my_plan;
group.setPlannerId("RRTstarkConfigDefault");
group.setPlanningTime(20.0);
bool success = group.plan(my_plan);
//Mover el robot
if (success){
group.move();
}
sleep(10.0);
}
}
ros::spin();
return 0;
}
/**
* @brief The workhorse routine
* @param argc The count of the command line arguments
* @param argv A pointer to the list of command line arguments
* @param ACE_TRY_ENV The CORBA Env variable
* @exception CORBA::SystemException
*
* This is where the bulk of the work gets done. The sequence of steps is
* - The orb is initialized, using the command line options, if any
* - The portable Object Adapter is next
* - Then we create a POA manager
* - The naming service handle is the next
* - After the naming context, we get a scheduler handle
* - Finally, we get hold of the event channel
*
* An overloaded variant exists that provides a similar functionality,
* except that the event channel handle is deferred until later.
*/
void
STDC::QMS::CORBA_Handles::init (int argc, char **argv,
const char * orb_name_p,
CORBA_Environment &ACE_TRY_ENV)
{
QMS_Trace ("STDC::QMS::CORBA_Handles::init", __LINE__, __FILE__);
DEBUG0 (DEBUG_L_ENTER, "DEBUG: QMS API object initializing\n");
if(this->_initialized)
{
return;
} /* end of if(this->_initialized) */
ACE_TRY
{
// ORB initialization. We shall be using the string QMS_API
// all through this application
this->_orb =
CORBA::ORB_init (argc, argv, orb_name_p, ACE_TRY_ENV);
ACE_TRY_CHECK;
if (CORBA::is_nil (this->_orb.in ())){
ACE_Time_Value sleep_time (QMS_DEFAULT_retry_sleep_interval, 0);
int count = 0;
while (CORBA::is_nil (this->_orb.in ())){
if (count >= QMS_DEFAULT_number_of_retries){
ACE_ERROR ((LM_ERROR,"(%P|%t) Unable to initialize the orb.\n"));
ACE_TRY_THROW (CORBA::BAD_PARAM ());
}
ACE_OS::sleep (sleep_time);
DEBUG0 (6, "retrying getting the orb\n");
this->_orb =
CORBA::ORB_init (argc, argv, "QMS_API", ACE_TRY_ENV);
ACE_TRY_CHECK;
count++;
}
}
else
{
DEBUG0 (6, "Orb initilized(no external data yet)\n");
}
// Ok. The portable Object Adapter is next
if (CORBA::is_nil (this->_root_poa.in ())){
CORBA::Object_var poa_object =
this->_orb->resolve_initial_references("RootPOA");
ACE_TRY_CHECK;
this->_root_poa =
PortableServer::POA::_narrow (poa_object.in (), ACE_TRY_ENV);
ACE_TRY_CHECK;
DEBUG0 (6, "Narrowed the root poa\n");
if (CORBA::is_nil (poa_object.in ())){
ACE_Time_Value sleep_time (QMS_DEFAULT_retry_sleep_interval, 0);
int count = 0;
while (CORBA::is_nil (this->_root_poa.in ())){
if (count >= QMS_DEFAULT_number_of_retries){
ACE_ERROR ((LM_ERROR," Unable to initialize the POA.\n"));
ACE_TRY_THROW (CORBA::BAD_PARAM ());
}
ACE_OS::sleep (sleep_time);
DEBUG0 (6, "retrying getting root poa\n");
CORBA::Object_var poa_object =
this->_orb->resolve_initial_references("RootPOA");
ACE_TRY_CHECK;
this->_root_poa =
PortableServer::POA::_narrow (poa_object.in (), ACE_TRY_ENV);
ACE_TRY_CHECK;
DEBUG0 (6, "Narrowed the root poa\n");
count++;
}
}
else {
DEBUG0 (6, "Got the root poa(no external data yet)\n");
}
}
else
{
DEBUG0 (6, "Already had root poa handle\n");
}
// Now we get the manager
if (CORBA::is_nil (this->_poa_manager.in ())) {
this->_poa_manager =
this->_root_poa->the_POAManager (ACE_TRY_ENV);
ACE_TRY_CHECK;
if (CORBA::is_nil (this->_poa_manager.in ())) {
ACE_Time_Value sleep_time (QMS_DEFAULT_retry_sleep_interval, 0);
int count = 0;
while (CORBA::is_nil (this->_poa_manager.in ())){
if (count >= QMS_DEFAULT_number_of_retries){
ACE_ERROR ((LM_ERROR,"(%P|%t) Unable to get the POA mgr.\n"));
ACE_TRY_THROW (CORBA::BAD_PARAM ());
}
ACE_OS::sleep (sleep_time);
DEBUG0 (6, "retrying getting the poa manager\n");
this->_poa_manager =
this->_root_poa->the_POAManager (ACE_TRY_ENV);
ACE_TRY_CHECK;
count++;
}
}
else {
DEBUG0(6, "Got the poa manager(no external data yet)\n");
}
}
else
{
DEBUG0 (6, "Already had poa manager handle\n");
}
// Obtain a reference to the naming service...
if (CORBA::is_nil (this->_naming_context.in ())) {
CORBA::Object_var naming_obj =
this->_orb->resolve_initial_references ("NameService", ACE_TRY_ENV);
ACE_TRY_CHECK;
this->_naming_context =
CosNaming::NamingContext::_narrow (naming_obj.in (), ACE_TRY_ENV);
ACE_TRY_CHECK;
DEBUG0 (6, "Narrowed the naming context(Connected)\n");
if (CORBA::is_nil (this->_naming_context.in())) {
ACE_Time_Value sleep_time (QMS_DEFAULT_retry_sleep_interval, 0);
int count = 0;
while (CORBA::is_nil (this->_naming_context.in ())){
if (count >= QMS_DEFAULT_number_of_retries){
ACE_ERROR ((LM_ERROR,
"(%P|%t) Unable to get the naming context.\n"));
ACE_TRY_THROW (CORBA::BAD_PARAM ());
}
ACE_OS::sleep (sleep_time);
DEBUG0 (6, "retrying getting naming context\n");
CORBA::Object_var naming_obj =
this->_orb->resolve_initial_references ("NameService",
ACE_TRY_ENV);
ACE_TRY_CHECK;
this->_naming_context =
CosNaming::NamingContext::_narrow (naming_obj.in (),
ACE_TRY_ENV);
ACE_TRY_CHECK;
DEBUG0 (6, "Narrowed the naming context(Connected)\n");
count++;
}
}
else {
DEBUG0 (6, "Got the naming context(Connected)\n");
}
}
else
{
DEBUG0 (6, "Already Had naming context(Connected)\n");
}
// and now for the scheduling service
if (CORBA::is_nil (this->_scheduler.in ())) {
CosNaming::Name schedule_name (1);
schedule_name.length (1);
schedule_name[0].id = CORBA::string_dup ("ScheduleService");
CORBA::Object_var sched_obj=
this->_naming_context->resolve (schedule_name, ACE_TRY_ENV);
ACE_TRY_CHECK;
this->_scheduler =
RtecScheduler::Scheduler::_narrow(sched_obj.in (), ACE_TRY_ENV);
ACE_TRY_CHECK;
DEBUG0 (6, "Narrowed the scheduler handle\n");
if (CORBA::is_nil (this->_scheduler.in ())) {
ACE_Time_Value sleep_time (QMS_DEFAULT_retry_sleep_interval, 0);
int count = 0;
while (CORBA::is_nil (this->_scheduler.in ())){
if (count >= QMS_DEFAULT_number_of_retries){
ACE_ERROR ((LM_ERROR,"(%P|%t) Unable to get the scheduler.\n"));
ACE_TRY_THROW (CORBA::BAD_PARAM ());
}
ACE_OS::sleep (sleep_time);
DEBUG0 (6, "retrying getting scheduler\n");
CORBA::Object_var sched_obj=
this->_naming_context->resolve (schedule_name, ACE_TRY_ENV);
ACE_TRY_CHECK;
this->_scheduler =
RtecScheduler::Scheduler::_narrow(sched_obj.in (), ACE_TRY_ENV);
ACE_TRY_CHECK;
DEBUG0 (6, "Narrowed the scheduler handle\n");
count++;
}
}
else {
DEBUG0 (6, "Got the scheduler\n");
}
}
else
{
DEBUG0 (6, "Already Had scheduler\n");
}
}
ACE_CATCH (CosNaming::NamingContext::AlreadyBound, ex)
{
ACE_PRINT_EXCEPTION (ex, "name service already bound :");
this->disconnect();
ACE_RE_THROW;
}
int main(int argc, char **argv)
{
ros::init (argc, argv, "move_group_tutorial");
ros::AsyncSpinner spinner(1);
spinner.start();
ros::NodeHandle node_handle("move_group");
// BEGIN_TUTORIAL
// Start
// ^^^^^
// Setting up to start using a planner is pretty easy. Planners are
// setup as plugins in MoveIt! and you can use the ROS pluginlib
// interface to load any planner that you want to use. Before we
// can load the planner, we need two objects, a RobotModel
// and a PlanningScene.
// We will start by instantiating a
// `RobotModelLoader`_
// object, which will look up
// the robot description on the ROS parameter server and construct a
// :moveit_core:`RobotModel` for us to use.
//
// .. _RobotModelLoader: http://docs.ros.org/api/moveit_ros_planning/html/classrobot__model__loader_1_1RobotModelLoader.html
robot_model_loader::RobotModelLoader robot_model_loader("robot_description");
robot_model::RobotModelPtr robot_model = robot_model_loader.getModel();
// Using the :moveit_core:`RobotModel`, we can construct a
// :planning_scene:`PlanningScene` that maintains the state of
// the world (including the robot).
planning_scene::PlanningScenePtr planning_scene(new planning_scene::PlanningScene(robot_model));
// We will now construct a loader to load a planner, by name.
// Note that we are using the ROS pluginlib library here.
boost::scoped_ptr<pluginlib::ClassLoader<planning_interface::PlannerManager> > planner_plugin_loader;
planning_interface::PlannerManagerPtr planner_instance;
std::string planner_plugin_name;
// We will get the name of planning plugin we want to load
// from the ROS param server, and then load the planner
// making sure to catch all exceptions.
if (!node_handle.getParam("planning_plugin", planner_plugin_name))
ROS_FATAL_STREAM("Could not find planner plugin name");
try
{
planner_plugin_loader.reset(new pluginlib::ClassLoader<planning_interface::PlannerManager>("moveit_core", "planning_interface::PlannerManager"));
}
catch(pluginlib::PluginlibException& ex)
{
ROS_FATAL_STREAM("Exception while creating planning plugin loader " << ex.what());
}
try
{
planner_instance.reset(planner_plugin_loader->createUnmanagedInstance(planner_plugin_name));
if (!planner_instance->initialize(robot_model, node_handle.getNamespace()))
ROS_FATAL_STREAM("Could not initialize planner instance");
ROS_INFO_STREAM("Using planning interface '" << planner_instance->getDescription() << "'");
}
catch(pluginlib::PluginlibException& ex)
{
const std::vector<std::string> &classes = planner_plugin_loader->getDeclaredClasses();
std::stringstream ss;
for (std::size_t i = 0 ; i < classes.size() ; ++i)
ss << classes[i] << " ";
ROS_ERROR_STREAM("Exception while loading planner '" << planner_plugin_name << "': " << ex.what() << std::endl
<< "Available plugins: " << ss.str());
}
/* Sleep a little to allow time to startup rviz, etc. */
// ros::WallDuration sleep_time(15.0);
ros::WallDuration sleep_time(1);
sleep_time.sleep();
// Pose Goal
// ^^^^^^^^^
// We will now create a motion plan request for the right arm of the PR2
// specifying the desired pose of the end-effector as input.
planning_interface::MotionPlanRequest req;
planning_interface::MotionPlanResponse res;
geometry_msgs::PoseStamped pose;
pose.header.frame_id = "base";
pose.pose.position.x = 0.3;
pose.pose.position.y = 0.0;
pose.pose.position.z = 0.3;
pose.pose.orientation.w = 1.0;
// A tolerance of 0.01 m is specified in position
// and 0.01 radians in orientation
std::vector<double> tolerance_pose(3, 0.01);
std::vector<double> tolerance_angle(3, 0.01);
// We will create the request as a constraint using a helper function available
// from the
// `kinematic_constraints`_
// package.
//
// .. _kinematic_constraints: http://docs.ros.org/api/moveit_core/html/namespacekinematic__constraints.html#a88becba14be9ced36fefc7980271e132
req.group_name = "manipulator";
moveit_msgs::Constraints pose_goal = kinematic_constraints::constructGoalConstraints("tool0", pose, tolerance_pose, tolerance_angle);
req.goal_constraints.push_back(pose_goal);
// We now construct a planning context that encapsulate the scene,
// the request and the response. We call the planner using this
// planning context
planning_interface::PlanningContextPtr context = planner_instance->getPlanningContext(planning_scene, req, res.error_code_);
context->solve(res);
if(res.error_code_.val != res.error_code_.SUCCESS)
{
ROS_ERROR("Could not compute plan successfully: %d", (int) res.error_code_.val);
return 0;
}
// Visualize the result
// ^^^^^^^^^^^^^^^^^^^^
ros::Publisher display_publisher = node_handle.advertise<moveit_msgs::DisplayTrajectory>("/move_group/display_planned_path", 1, true);
moveit_msgs::DisplayTrajectory display_trajectory;
/* Visualize the trajectory */
ROS_INFO("Visualizing the trajectory");
moveit_msgs::MotionPlanResponse response;
res.getMessage(response);
display_trajectory.trajectory_start = response.trajectory_start;
display_trajectory.trajectory.push_back(response.trajectory);
display_publisher.publish(display_trajectory);
sleep_time.sleep();
// Joint Space Goals
// ^^^^^^^^^^^^^^^^^
/* First, set the state in the planning scene to the final state of the last plan */
robot_state::RobotState& robot_state = planning_scene->getCurrentStateNonConst();
planning_scene->setCurrentState(response.trajectory_start);
#if 0
const robot_state::JointModelGroup* joint_model_group = robot_state.getJointModelGroup("manipulator");
robot_state.setJointGroupPositions(joint_model_group, response.trajectory.joint_trajectory.points.back().positions);
// Now, setup a joint space goal
robot_state::RobotState goal_state(robot_model);
std::vector<double> joint_values(7, 0.0);
joint_values[0] = -2.0;
joint_values[3] = -0.2;
joint_values[5] = -0.15;
goal_state.setJointGroupPositions(joint_model_group, joint_values);
moveit_msgs::Constraints joint_goal = kinematic_constraints::constructGoalConstraints(goal_state, joint_model_group);
req.goal_constraints.clear();
req.goal_constraints.push_back(joint_goal);
// Call the planner and visualize the trajectory
/* Re-construct the planning context */
context = planner_instance->getPlanningContext(planning_scene, req, res.error_code_);
/* Call the Planner */
context->solve(res);
/* Check that the planning was successful */
if(res.error_code_.val != res.error_code_.SUCCESS)
{
ROS_ERROR("Could not compute plan successfully");
return 0;
}
/* Visualize the trajectory */
ROS_INFO("Visualizing the trajectory");
res.getMessage(response);
display_trajectory.trajectory_start = response.trajectory_start;
display_trajectory.trajectory.push_back(response.trajectory);
/* Now you should see two planned trajectories in series*/
display_publisher.publish(display_trajectory);
/* We will add more goals. But first, set the state in the planning
scene to the final state of the last plan */
robot_state.setJointGroupPositions(joint_model_group, response.trajectory.joint_trajectory.points.back().positions);
/* Now, we go back to the first goal*/
req.goal_constraints.clear();
req.goal_constraints.push_back(pose_goal);
context = planner_instance->getPlanningContext(planning_scene, req, res.error_code_);
context->solve(res);
res.getMessage(response);
display_trajectory.trajectory.push_back(response.trajectory);
display_publisher.publish(display_trajectory);
// Adding Path Constraints
// ^^^^^^^^^^^^^^^^^^^^^^^
// Let's add a new pose goal again. This time we will also add a path constraint to the motion.
/* Let's create a new pose goal */
pose.pose.position.x = 0.65;
pose.pose.position.y = -0.2;
pose.pose.position.z = -0.1;
moveit_msgs::Constraints pose_goal_2 = kinematic_constraints::constructGoalConstraints("tool0", pose, tolerance_pose, tolerance_angle);
/* First, set the state in the planning scene to the final state of the last plan */
robot_state.setJointGroupPositions(joint_model_group, response.trajectory.joint_trajectory.points.back().positions);
/* Now, let's try to move to this new pose goal*/
req.goal_constraints.clear();
req.goal_constraints.push_back(pose_goal_2);
/* But, let's impose a path constraint on the motion.
Here, we are asking for the end-effector to stay level*/
geometry_msgs::QuaternionStamped quaternion;
quaternion.header.frame_id = "torso_lift_link";
quaternion.quaternion.w = 1.0;
req.path_constraints = kinematic_constraints::constructGoalConstraints("tool0", quaternion);
// Imposing path constraints requires the planner to reason in the space of possible positions of the end-effector
// (the workspace of the robot)
// because of this, we need to specify a bound for the allowed planning volume as well;
// Note: a default bound is automatically filled by the WorkspaceBounds request adapter (part of the OMPL pipeline,
// but that is not being used in this example).
// We use a bound that definitely includes the reachable space for the arm. This is fine because sampling is not done in this volume
// when planning for the arm; the bounds are only used to determine if the sampled configurations are valid.
req.workspace_parameters.min_corner.x = req.workspace_parameters.min_corner.y = req.workspace_parameters.min_corner.z = -2.0;
req.workspace_parameters.max_corner.x = req.workspace_parameters.max_corner.y = req.workspace_parameters.max_corner.z = 2.0;
// Call the planner and visualize all the plans created so far.
context = planner_instance->getPlanningContext(planning_scene, req, res.error_code_);
context->solve(res);
res.getMessage(response);
display_trajectory.trajectory.push_back(response.trajectory);
// Now you should see four planned trajectories in series
display_publisher.publish(display_trajectory);
#endif
//END_TUTORIAL
sleep_time.sleep();
ROS_INFO("Done");
planner_instance.reset();
return 0;
}
int main(int argc, char **argv)
{
ros::init (argc, argv, "planning_scene_ros_api_tutorial");
ros::AsyncSpinner spinner(1);
spinner.start();
ros::NodeHandle node_handle;
ros::Duration sleep_time(5.0);
sleep_time.sleep();
sleep_time.sleep();
// BEGIN_TUTORIAL
//
// ROS API
// ^^^^^^^
// The ROS API to the planning scene publisher is through a topic interface
// using "diffs". A planning scene diff is the difference between the current
// planning scene (maintained by the move_group node) and the new planning
// scene desired by the user.
// Advertise the required topic
// ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
// Note that this topic may need to be remapped in the launch file
ros::Publisher planning_scene_diff_publisher = node_handle.advertise<moveit_msgs::PlanningScene>("planning_scene", 1);
while(planning_scene_diff_publisher.getNumSubscribers() < 1)
{
ros::WallDuration sleep_t(0.5);
sleep_t.sleep();
}
// Define the attached object message
// ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
// We will use this message to add or
// subtract the object from the world
// and to attach the object to the robot
moveit_msgs::AttachedCollisionObject attached_object;
attached_object.link_name = "base_link";
/* The header must contain a valid TF frame*/
attached_object.object.header.frame_id = "base_link";
/* The id of the object */
attached_object.object.id = "box";
/* A default pose */
geometry_msgs::Pose pose;
pose.orientation.w = 1.0;
pose.position.x=0.0;
pose.position.y=-0.45;
pose.position.z=0.2;
/* Define a box to be attached */
shape_msgs::SolidPrimitive primitive;
primitive.type = primitive.BOX;
primitive.dimensions.resize(3);
primitive.dimensions[0] = 0.04;
primitive.dimensions[1] = 0.04;
primitive.dimensions[2] = 0.04;
attached_object.object.primitives.push_back(primitive);
attached_object.object.primitive_poses.push_back(pose);
// Note that attaching an object to the robot requires
// the corresponding operation to be specified as an ADD operation
attached_object.object.operation = attached_object.object.ADD;
// Add an object into the environment
// ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
// Add the object into the environment by adding it to
// the set of collision objects in the "world" part of the
// planning scene. Note that we are using only the "object"
// field of the attached_object message here.
ROS_INFO("Adding the object into the world at the location of the right wrist.");
moveit_msgs::PlanningScene planning_scene;
planning_scene.world.collision_objects.push_back(attached_object.object);
planning_scene.is_diff = true;
planning_scene_diff_publisher.publish(planning_scene);
sleep_time.sleep();
// Attach an object to the robot
// ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
// When the robot picks up an object from the environment, we need to
// "attach" the object to the robot so that any component dealing with
// the robot model knows to account for the attached object, e.g. for
// collision checking.
// Attaching an object requires two operations
// * Removing the original object from the environment
// * Attaching the object to the robot
/* First, define the REMOVE object message*/
moveit_msgs::CollisionObject remove_object;
remove_object.id = "box";
remove_object.header.frame_id = "odom_combined";
remove_object.operation = remove_object.REMOVE;
// Note how we make sure that the diff message contains no other
// attached objects or collisions objects by clearing those fields
// first.
/* Carry out the REMOVE + ATTACH operation */
ROS_INFO("Attaching the object to the right wrist and removing it from the world.");
planning_scene.world.collision_objects.clear();
planning_scene.world.collision_objects.push_back(remove_object);
planning_scene.robot_state.attached_collision_objects.push_back(attached_object);
planning_scene_diff_publisher.publish(planning_scene);
sleep_time.sleep();
// Detach an object from the robot
// ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
// Detaching an object from the robot requires two operations
// * Detaching the object from the robot
// * Re-introducing the object into the environment
/* First, define the DETACH object message*/
moveit_msgs::AttachedCollisionObject detach_object;
detach_object.object.id = "box";
detach_object.link_name = "gripper_roll_link";
detach_object.object.operation = attached_object.object.REMOVE;
// Note how we make sure that the diff message contains no other
// attached objects or collisions objects by clearing those fields
// first.
/* Carry out the DETACH + ADD operation */
ROS_INFO("Detaching the object from the robot and returning it to the world.");
planning_scene.robot_state.attached_collision_objects.clear();
planning_scene.robot_state.attached_collision_objects.push_back(detach_object);
planning_scene.world.collision_objects.clear();
planning_scene.world.collision_objects.push_back(attached_object.object);
planning_scene_diff_publisher.publish(planning_scene);
sleep_time.sleep();
// REMOVE THE OBJECT FROM THE COLLISION WORLD
// ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
// Removing the object from the collision world just requires
// using the remove object message defined earlier.
// Note, also how we make sure that the diff message contains no other
// attached objects or collisions objects by clearing those fields
// first.
ROS_INFO("Removing the object from the world.");
planning_scene.robot_state.attached_collision_objects.clear();
planning_scene.world.collision_objects.clear();
planning_scene.world.collision_objects.push_back(remove_object);
planning_scene_diff_publisher.publish(planning_scene);
// END_TUTORIAL
ros::shutdown();
return 0;
}
int main(int argc, char **argv)
{
ros::init (argc, argv, "motion_planning");
ros::AsyncSpinner spinner(1);
spinner.start();
ros::NodeHandle node_handle("/move_group");
// ros::NodeHandle node_handle("~");
/* SETUP A PLANNING SCENE*/
/* Load the robot model */
robot_model_loader::RobotModelLoader robot_model_loader("robot_description");
/* Get a shared pointer to the model */
robot_model::RobotModelPtr robot_model = robot_model_loader.getModel();
/* Construct a planning scene - NOTE: this is for illustration purposes only.
The recommended way to construct a planning scene is to use the planning_scene_monitor
to construct it for you.*/
planning_scene::PlanningScenePtr planning_scene(new planning_scene::PlanningScene(robot_model));
/* SETUP THE PLANNER*/
boost::scoped_ptr<pluginlib::ClassLoader<planning_interface::PlannerManager> > planner_plugin_loader;
planning_interface::PlannerManagerPtr planner_instance;
std::string planner_plugin_name;
/* Get the name of the planner we want to use */
if (!node_handle.getParam("planning_plugin", planner_plugin_name))
ROS_FATAL_STREAM("Could not find planner plugin name");
/* Make sure to catch all exceptions */
try
{
planner_plugin_loader.reset(new pluginlib::ClassLoader<planning_interface::PlannerManager>("moveit_core", "planning_interface::PlannerManager"));
}
catch(pluginlib::PluginlibException& ex)
{
ROS_FATAL_STREAM("Exception while creating planning plugin loader " << ex.what());
}
try
{
planner_instance.reset(planner_plugin_loader->createUnmanagedInstance(planner_plugin_name));
if (!planner_instance->initialize(robot_model, node_handle.getNamespace()))
ROS_FATAL_STREAM("Could not initialize planner instance");
ROS_INFO_STREAM("Using planning interface '" << planner_instance->getDescription() << "'");
}
catch(pluginlib::PluginlibException& ex)
{
const std::vector<std::string> &classes = planner_plugin_loader->getDeclaredClasses();
std::stringstream ss;
for (std::size_t i = 0 ; i < classes.size() ; ++i)
ss << classes[i] << " ";
ROS_ERROR_STREAM("Exception while loading planner '" << planner_plugin_name << "': " << ex.what() << std::endl
<< "Available plugins: " << ss.str());
}
/* Sleep a little to allow time to startup rviz, etc. */
ros::WallDuration sleep_time(1.0);
sleep_time.sleep();
/* CREATE A MOTION PLAN REQUEST FOR THE RIGHT ARM OF THE PR2 */
/* We will ask the end-effector of the PR2 to go to a desired location */
planning_interface::MotionPlanRequest req;
planning_interface::MotionPlanResponse res;
/* A desired pose */
geometry_msgs::PoseStamped pose;
pose.header.frame_id = "base_link";
pose.pose.position.x = 0.3;
pose.pose.position.y = -0.3;
pose.pose.position.z = 0.7;
pose.pose.orientation.x = 0.62478;
pose.pose.orientation.y = 0.210184;
pose.pose.orientation.z = -0.7107 ;
pose.pose.orientation.w = 0.245722;
/* A desired tolerance */
std::vector<double> tolerance_pose(3, 0.1);
std::vector<double> tolerance_angle(3, 0.1);
// std::vector<double> tolerance_pose(3, 0.01);
// std::vector<double> tolerance_angle(3, 0.01);
ROS_INFO("marker4");
/*Create the request */
req.group_name = "manipulator";
moveit_msgs::Constraints pose_goal = kinematic_constraints::constructGoalConstraints("wrist_3_link", pose, tolerance_pose, tolerance_angle);
req.goal_constraints.push_back(pose_goal);
ROS_INFO("marker5");
/* Construct the planning context */
planning_interface::PlanningContextPtr context = planner_instance->getPlanningContext(planning_scene, req, res.error_code_);
ROS_INFO("marker6");
/* CALL THE PLANNER */
// context->solve(res);
// ROS_INFO("marker7");
/* Check that the planning was successful */
if(res.error_code_.val != res.error_code_.SUCCESS)
{
ROS_ERROR("Could not compute plan successfully");
return 0;
}
/* Visualize the generated plan */
/* Publisher for display */
ros::Publisher display_publisher = node_handle.advertise<moveit_msgs::DisplayTrajectory>("/move_group/display_planned_path", 1, true);
moveit_msgs::DisplayTrajectory display_trajectory;
/* Visualize the trajectory */
ROS_INFO("Visualizing the trajectory");
moveit_msgs::MotionPlanResponse response;
res.getMessage(response);
display_trajectory.trajectory_start = response.trajectory_start;
display_trajectory.trajectory.push_back(response.trajectory);
display_publisher.publish(display_trajectory);
sleep_time.sleep();
/* NOW TRY A JOINT SPACE GOAL */
/* First, set the state in the planning scene to the final state of the last plan */
robot_state::RobotState& robot_state = planning_scene->getCurrentStateNonConst();
planning_scene->setCurrentState(response.trajectory_start);
robot_state::JointStateGroup* joint_state_group = robot_state.getJointStateGroup("manipulator");
joint_state_group->setVariableValues(response.trajectory.joint_trajectory.points.back().positions);
/* Now, setup a joint space goal*/
robot_state::RobotState goal_state(robot_model);
robot_state::JointStateGroup* goal_group = goal_state.getJointStateGroup("manipulator");
std::vector<double> joint_values(7, 0.0);
// joint_values[0] = 2.0;
joint_values[2] = 1.6;
// joint_values[5] = -0.15;
goal_group->setVariableValues(joint_values);
moveit_msgs::Constraints joint_goal = kinematic_constraints::constructGoalConstraints(goal_group);
req.goal_constraints.clear();
req.goal_constraints.push_back(joint_goal);
/* Construct the planning context */
context = planner_instance->getPlanningContext(planning_scene, req, res.error_code_);
/* Call the Planner */
context->solve(res);
/* Check that the planning was successful */
if(res.error_code_.val != res.error_code_.SUCCESS)
{
ROS_ERROR("Could not compute plan successfully");
return 0;
}
/* Visualize the trajectory */
ROS_INFO("Visualizing the trajectory");
res.getMessage(response);
display_trajectory.trajectory_start = response.trajectory_start;
display_trajectory.trajectory.push_back(response.trajectory);
//Now you should see two planned trajectories in series
display_publisher.publish(display_trajectory);
/* Now, let's try to go back to the first goal*/
/* First, set the state in the planning scene to the final state of the last plan */
joint_state_group->setVariableValues(response.trajectory.joint_trajectory.points.back().positions);
/* Now, we go back to the first goal*/
req.goal_constraints.clear();
req.goal_constraints.push_back(pose_goal);
context = planner_instance->getPlanningContext(planning_scene, req, res.error_code_);
context->solve(res);
res.getMessage(response);
display_trajectory.trajectory.push_back(response.trajectory);
display_publisher.publish(display_trajectory);
/* Let's create a new pose goal */
pose.pose.position.x = 0.65;
pose.pose.position.y = -0.2;
pose.pose.position.z = -0.1;
moveit_msgs::Constraints pose_goal_2 = kinematic_constraints::constructGoalConstraints("wrist_3_link", pose, tolerance_pose, tolerance_angle);
/* First, set the state in the planning scene to the final state of the last plan */
joint_state_group->setVariableValues(response.trajectory.joint_trajectory.points.back().positions);
/* Now, let's try to move to this new pose goal*/
req.goal_constraints.clear();
req.goal_constraints.push_back(pose_goal_2);
/* But, let's impose a path constraint on the motion.
Here, we are asking for the end-effector to stay level*/
geometry_msgs::QuaternionStamped quaternion;
quaternion.header.frame_id = "base_link";
quaternion.quaternion.w = 1.0;
req.path_constraints = kinematic_constraints::constructGoalConstraints("wrist_3_link", quaternion);
// imposing path constraints requires the planner to reason in the space of possible positions of the end-effector
// (the workspace of the robot)
// because of this, we need to specify a bound for the allowed planning volume as well;
// Note: a default bound is automatically filled by the WorkspaceBounds request adapter (part of the OMPL pipeline,
// but that is not being used in this example).
// We use a bound that definitely includes the reachable space for the arm. This is fine because sampling is not done in this volume
// when planning for the arm; the bounds are only used to determine if the sampled configurations are valid.
req.workspace_parameters.min_corner.x = req.workspace_parameters.min_corner.y = -2.0;
req.workspace_parameters.min_corner.z = 0.2;
req.workspace_parameters.max_corner.x = req.workspace_parameters.max_corner.y = req.workspace_parameters.max_corner.z = 2.0;
context = planner_instance->getPlanningContext(planning_scene, req, res.error_code_);
context->solve(res);
res.getMessage(response);
display_trajectory.trajectory.push_back(response.trajectory);
//Now you should see four planned trajectories in series
display_publisher.publish(display_trajectory);
sleep_time.sleep();
ROS_INFO("Done");
planner_instance.reset();
return 0;
}
