bool IMarkerRobotState::setToRandomState(double clearance)
{
static const std::size_t MAX_ATTEMPTS = 1000;
for (std::size_t attempt = 0; attempt < MAX_ATTEMPTS; ++attempt)
{
// Set each planning group to random
for (std::size_t i = 0; i < arm_datas_.size(); ++i)
{
imarker_state_->setToRandomPositions(arm_datas_[i].jmg_);
}
// Update transforms
imarker_state_->update();
planning_scene_monitor::LockedPlanningSceneRO planning_scene(psm_); // Read only lock
// Collision check
// which planning group to collision check, "" is everything
static const bool verbose = false;
if (planning_scene->isStateValid(*imarker_state_, "", verbose))
{
// Check clearance
if (clearance > 0)
{
// which planning group to collision check, "" is everything
if (planning_scene->distanceToCollision(*imarker_state_) < clearance)
{
continue; // clearance is not enough
}
}
ROS_INFO_STREAM_NAMED(name_, "Found valid random robot state after " << attempt << " attempts");
// Set updated pose from robot state
for (std::size_t i = 0; i < arm_datas_.size(); ++i)
end_effectors_[i]->setPoseFromRobotState();
// Send to imarker
for (std::size_t i = 0; i < arm_datas_.size(); ++i)
end_effectors_[i]->sendUpdatedIMarkerPose();
return true;
}
if (attempt == 100)
ROS_WARN_STREAM_NAMED(name_, "Taking long time to find valid random state");
}
ROS_ERROR_STREAM_NAMED(name_, "Unable to find valid random robot state for imarker after " << MAX_ATTEMPTS << " attem"
"pts");
return false;
}
bool IMarkerRobotState::isStateValid(bool verbose)
{
// Update transforms
imarker_state_->update();
planning_scene_monitor::LockedPlanningSceneRO planning_scene(psm_); // Read only lock
// which planning group to collision check, "" is everything
if (planning_scene->isStateValid(*imarker_state_, "", verbose))
{
return true;
}
return false;
}
int main(int argc, char **argv)
{
ros::init (argc, argv, "arm_kinematics");
ros::AsyncSpinner spinner(1);
spinner.start();
planning_scene_monitor::PlanningSceneMonitor psm("robot_description");
psm.startStateMonitor();
sleep(1);
/* Load the robot model */
robot_model_loader::RobotModelLoader robot_model_loader("robot_description");
/* Get a shared pointer to the model */
robot_model::RobotModelPtr kinematic_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::PlanningScene planning_scene(kinematic_model);
// planning_scene::PlanningScene planning_scene = *psm.getPlanningScene();
/* The planning scene contains a RobotState *representation of the robot configuration
We can get a reference to it.*/
robot_state::RobotState& current_state = planning_scene.getCurrentStateNonConst();
/* COLLISION CHECKING */
/* Let's check if the current state is in self-collision. All self-collision checks use an unpadded version of the
robot collision model, i.e. no extra padding is applied to the robot.*/
collision_detection::CollisionRequest collision_request;
collision_detection::CollisionResult collision_result;
planning_scene.checkSelfCollision(collision_request, collision_result);
ROS_INFO_STREAM("Test 1 : Current(joint_state_values.front() > 0.0 state is " << (collision_result.collision ? "in" : "not in") << " self collision");
/* Let's change the current state that the planning scene has and check if that is in self-collision*/
current_state.setToRandomValues();
collision_result.clear();
planning_scene.checkSelfCollision(collision_request, collision_result);
ROS_INFO_STREAM("Test 2 : Current state is " << (collision_result.collision ? "in" : "not in") << " self collision");
/* Now, we will do collision checking only for the right_arm of the PR2, i.e. we will check whether
there are any collisions between the right arm and other parts of the body of the robot.*/
collision_request.group_name = "manipulator";
current_state.setToRandomValues();
collision_result.clear();
planning_scene.checkSelfCollision(collision_request, collision_result);
ROS_INFO_STREAM("Test 3: Current state is " << (collision_result.collision ? "in" : "not in") << " self collision");
/* We will first manually set the right arm to a position where we know internal (self) collisions
do happen.*/
std::vector<double> joint_values;
robot_state::JointStateGroup* joint_state_group = current_state.getJointStateGroup("manipulator");
joint_state_group->getVariableValues(joint_values);
joint_values[0] = 1.57; //hard-coded since we know collisions will happen here
joint_state_group->setVariableValues(joint_values);
/* Note that this state is now actually outside the joint limits of the PR2, which we can also check for
directly.*/
ROS_INFO_STREAM("Current state is " << (current_state.satisfiesBounds() ? "valid" : "not valid"));
/* Now, we will try and get contact information for any collisions that
might have happened at a given configuration of the right arm. */
collision_request.contacts = true;
collision_request.max_contacts = 1000;
collision_result.clear();
planning_scene.checkSelfCollision(collision_request, collision_result);
ROS_INFO_STREAM("Test 4: Current state is " << (collision_result.collision ? "in" : "not in") << " self collision");
for(collision_detection::CollisionResult::ContactMap::const_iterator it = collision_result.contacts.begin();
it != collision_result.contacts.end();
++it)
{
ROS_INFO("Contact between: %s and %s", it->first.first.c_str(), it->first.second.c_str());
}
/* We will pass in a changed collision matrix to allow the particular set of contacts that just happened*/
collision_detection::AllowedCollisionMatrix acm = planning_scene.getAllowedCollisionMatrix();
robot_state::RobotState copied_state = planning_scene.getCurrentState();
for(collision_detection::CollisionResult::ContactMap::const_iterator it = collision_result.contacts.begin();
it != collision_result.contacts.end();
++it)
{
acm.setEntry(it->first.first, it->first.second, true);
}
collision_result.clear();
planning_scene.checkSelfCollision(collision_request, collision_result, copied_state, acm);
ROS_INFO_STREAM("Test 5: Current state is " << (collision_result.collision ? "in" : "not in") << " self collision");
/* While we have been checking for self-collisions, we can use the checkCollision functions instead which will
check for both self-collisions and for collisions with the environment (which is currently empty).
This is the set of collision checking functions that you will use most often in a planner. Note that collision checks
with the environment will use the padded version of the robot. Padding helps in keeping the robot further away from
int_state_values.front() > 0.0
obstacles in the environment.*/
collision_result.clear();
planning_scene.checkCollision(collision_request, collision_result, copied_state, acm);
ROS_INFO_STREAM("Test 6: Current state is " << (collision_result.collision ? "in" : "not in") << " self collision");
/* CONSTRAINT CHECKING*/
/* Let's first create a constraint for the end-effector of the right arm of the PR2 */
const robot_model::JointModelGroup* joint_model_group = kinematic_model->getJointModelGroup("manipulator");
std::string end_effector_name = joint_model_group->getLinkModelNames().back();
geometry_msgs::PoseStamped desired_pose;
desired_pose.pose.orientation.w = 1.0;
desired_pose.pose.position.x = 0.75;
desired_pose.pose.position.y = -0.185;
desired_pose.pose.position.z = 1.3;
desired_pose.header.frame_id = "base_link";
moveit_msgs::Constraints goal_constraint = kinematic_constraints::constructGoalConstraints(end_effector_name, desired_pose);
/* Now, we can directly check it for a state using the PlanningScene class*/
copied_state.setToRandomValues();
bool state_constrained = planning_scene.isStateConstrained(copied_state, goal_constraint);
ROS_INFO_STREAM("Test 7: Random state is " << (state_constrained ? "constrained" : "not constrained"));
/* There's a more efficient way of checking constraints (when you want to check the same constraint over
and over again, e.g. inside a planner). We first construct a KinematicConstraintSet which pre-processes
the ROS Constraints messages and sets it up for quick processing. */
kinematic_constraints::KinematicConstraintSet kinematic_constraint_set(kinematic_model);
kinematic_constraint_set.add(goal_constraint, planning_scene.getTransforms());
bool state_constrained_2 = planning_scene.isStateConstrained(copied_state, kinematic_constraint_set);
ROS_INFO_STREAM("Test 8: Random state is " << (state_constrained_2 ? "constrained" : "not constrained"));
/* There's an even more efficient way to do this using the KinematicConstraintSet class directly.*/
kinematic_constraints::ConstraintEvaluationResult constraint_eval_result = kinematic_constraint_set.decide(copied_state);
ROS_INFO_STREAM("Test 9: Random state is " << (constraint_eval_result.satisfied ? "constrained" : "not constrained"));
/* Now, lets try a user-defined callback. This is done by specifying the callback using the
setStateFeasibilityPredicate function to which you pass the desired callback.
Now, whenever anyone calls isStateFeasible, the callback will be checked.*/
planning_scene.setStateFeasibilityPredicate(userCallback);
bool state_feasible = planning_scene.isStateFeasible(copied_state);
ROS_INFO_STREAM("Test 10: Random state is " << (state_feasible ? "feasible" : "not feasible"));
/* Whenever anyone calls isStateValid, three checks are conducted: (a) collision checking (b) constraint checking and
(c) feasibility checking using the user-defined callback */
bool state_valid = planning_scene.isStateValid(copied_state, kinematic_constraint_set, "manipulator");
ROS_INFO_STREAM("Test 10: Random state is " << (state_valid ? "valid" : "not valid"));
ros::shutdown();
return 0;
}
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)
{
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, "arm_kinematics");
ros::AsyncSpinner spinner(1);
spinner.start();
// BEGIN_TUTORIAL
//
// Setup
// ^^^^^
//
// The :planning_scene:`PlanningScene` class can be easily setup and
// configured using a :moveit_core:`RobotModel` or a URDF and
// SRDF. This is, however, not the recommended way to instantiate a
// PlanningScene. The :planning_scene_monitor:`PlanningSceneMonitor`
// is the recommended method to create and maintain the current
// planning scene (and is discussed in detail in the next tutorial)
// using data from the robot's joints and the sensors on the robot. In
// this tutorial, we will instantiate a PlanningScene class directly,
// but this method of instantiation is only intended for illustration.
robot_model_loader::RobotModelLoader robot_model_loader("robot_description");
robot_model::RobotModelPtr kinematic_model = robot_model_loader.getModel();
planning_scene::PlanningScene planning_scene(kinematic_model);
// sleep(5);
// Collision Checking
// ^^^^^^^^^^^^^^^^^^
//
// Self-collision checking
// ~~~~~~~~~~~~~~~~~~~~~~~
//
// The first thing we will do is check whether the robot in its
// current state is in *self-collision*, i.e. whether the current
// configuration of the robot would result in the robot's parts
// hitting each other. To do this, we will construct a
// :collision_detection_struct:`CollisionRequest` object and a
// :collision_detection_struct:`CollisionResult` object and pass them
// into the collision checking function. Note that the result of
// whether the robot is in self-collision or not is contained within
// the result. Self collision checking uses an *unpadded* version of
// the robot, i.e. it directly uses the collision meshes provided in
// the URDF with no extra padding added on.
collision_detection::CollisionRequest collision_request;
collision_detection::CollisionResult collision_result;
planning_scene.checkSelfCollision(collision_request, collision_result);
ROS_INFO_STREAM("Test 1: Current state is "
<< (collision_result.collision ? "in" : "not in")
<< " self collision");
// Change the state
// ~~~~~~~~~~~~~~~~
//
// Now, let's change the current state of the robot. The planning
// scene maintains the current state internally. We can get a
// reference to it and change it and then check for collisions for the
// new robot configuration. Note in particular that we need to clear
// the collision_result before making a new collision checking
// request.
robot_state::RobotState& current_state = planning_scene.getCurrentStateNonConst();
current_state.setToRandomPositions();
collision_result.clear();
planning_scene.checkSelfCollision(collision_request, collision_result);
ROS_INFO_STREAM("Test 2: Current state is "
<< (collision_result.collision ? "in" : "not in")
<< " self collision");
// Checking for a group
// ~~~~~~~~~~~~~~~~~~~~
//
// Now, we will do collision checking only for the right_arm of the
// PR2, i.e. we will check whether there are any collisions between
// the right arm and other parts of the body of the robot. We can ask
// for this specifically by adding the group name "right_arm" to the
// collision request.
collision_request.group_name = "arm";
current_state.setToRandomPositions();
collision_result.clear();
planning_scene.checkSelfCollision(collision_request, collision_result);
ROS_INFO_STREAM("Test 3: Current state is "
<< (collision_result.collision ? "in" : "not in")
<< " self collision");
// Getting Contact Information
// ~~~~~~~~~~~~~~~~~~~~~~~~~~~
//
// First, manually set the right arm to a position where we know
// internal (self) collisions do happen. Note that this state is now
// actually outside the joint limits of the PR2, which we can also
// check for directly.
std::vector<double> joint_values;
const robot_model::JointModelGroup* joint_model_group =
current_state.getJointModelGroup("arm");
current_state.copyJointGroupPositions(joint_model_group, joint_values);
joint_values[0] = 1.57; //hard-coded since we know collisions will happen here
current_state.setJointGroupPositions(joint_model_group, joint_values);
ROS_INFO_STREAM("Current state is "
<< (current_state.satisfiesBounds(joint_model_group) ? "valid" : "not valid"));
// Now, we can get contact information for any collisions that might
// have happened at a given configuration of the right arm. We can ask
// for contact information by filling in the appropriate field in the
// collision request and specifying the maximum number of contacts to
// be returned as a large number.
collision_request.contacts = true;
collision_request.max_contacts = 1000;
//
collision_result.clear();
planning_scene.checkSelfCollision(collision_request, collision_result);
ROS_INFO_STREAM("Test 4: Current state is "
<< (collision_result.collision ? "in" : "not in")
<< " self collision");
collision_detection::CollisionResult::ContactMap::const_iterator it;
for(it = collision_result.contacts.begin();
it != collision_result.contacts.end();
++it)
{
ROS_INFO("Contact between: %s and %s",
it->first.first.c_str(),
it->first.second.c_str());
}
// Modifying the Allowed Collision Matrix
// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//
// The :collision_detection_class:`AllowedCollisionMatrix` (ACM)
// provides a mechanism to tell the collision world to ignore
// collisions between certain object: both parts of the robot and
// objects in the world. We can tell the collision checker to ignore
// all collisions between the links reported above, i.e. even though
// the links are actually in collision, the collision checker will
// ignore those collisions and return not in collision for this
// particular state of the robot.
//
// Note also in this example how we are making copies of both the
// allowed collision matrix and the current state and passing them in
// to the collision checking function.
collision_detection::AllowedCollisionMatrix acm = planning_scene.getAllowedCollisionMatrix();
robot_state::RobotState copied_state = planning_scene.getCurrentState();
collision_detection::CollisionResult::ContactMap::const_iterator it2;
for(it2 = collision_result.contacts.begin();
it2 != collision_result.contacts.end();
++it2)
{
acm.setEntry(it2->first.first, it2->first.second, true);
}
collision_result.clear();
planning_scene.checkSelfCollision(collision_request, collision_result, copied_state, acm);
ROS_INFO_STREAM("Test 5: Current state is "
<< (collision_result.collision ? "in" : "not in")
<< " self collision");
// Full Collision Checking
// ~~~~~~~~~~~~~~~~~~~~~~~
//
// While we have been checking for self-collisions, we can use the
// checkCollision functions instead which will check for both
// self-collisions and for collisions with the environment (which is
// currently empty). This is the set of collision checking
// functions that you will use most often in a planner. Note that
// collision checks with the environment will use the padded version
// of the robot. Padding helps in keeping the robot further away
// from obstacles in the environment.*/
collision_result.clear();
planning_scene.checkCollision(collision_request, collision_result, copied_state, acm);
ROS_INFO_STREAM("Test 6: Current state is "
<< (collision_result.collision ? "in" : "not in")
<< " self collision");
// Constraint Checking
// ^^^^^^^^^^^^^^^^^^^
//
// The PlanningScene class also includes easy to use function calls
// for checking constraints. The constraints can be of two types:
// (a) constraints chosen from the
// :kinematic_constraints:`KinematicConstraint` set:
// i.e. :kinematic_constraints:`JointConstraint`,
// :kinematic_constraints:`PositionConstraint`,
// :kinematic_constraints:`OrientationConstraint` and
// :kinematic_constraints:`VisibilityConstraint` and (b) user
// defined constraints specified through a callback. We will first
// look at an example with a simple KinematicConstraint.
//
// Checking Kinematic Constraints
// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//
// We will first define a simple position and orientation constraint
// on the end-effector of the right_arm of the PR2 robot. Note the
// use of convenience functions for filling up the constraints
// (these functions are found in the :moveit_core_files:`utils.h<utils_8h>` file from the
// kinematic_constraints directory in moveit_core).
std::string end_effector_name = joint_model_group->getLinkModelNames().back();
geometry_msgs::PoseStamped desired_pose;
desired_pose.pose.orientation.w = 1.0;
desired_pose.pose.position.x = 0.75;
desired_pose.pose.position.y = -0.185;
desired_pose.pose.position.z = 1.3;
desired_pose.header.frame_id = "base_link";
moveit_msgs::Constraints goal_constraint =
kinematic_constraints::constructGoalConstraints(end_effector_name, desired_pose);
// Now, we can check a state against this constraint using the
// isStateConstrained functions in the PlanningScene class.
copied_state.setToRandomPositions();
copied_state.update();
bool constrained = planning_scene.isStateConstrained(copied_state, goal_constraint);
ROS_INFO_STREAM("Test 7: Random state is "
<< (constrained ? "constrained" : "not constrained"));
// There's a more efficient way of checking constraints (when you want
// to check the same constraint over and over again, e.g. inside a
// planner). We first construct a KinematicConstraintSet which
// pre-processes the ROS Constraints messages and sets it up for quick
// processing.
kinematic_constraints::KinematicConstraintSet kinematic_constraint_set(kinematic_model);
kinematic_constraint_set.add(goal_constraint, planning_scene.getTransforms());
bool constrained_2 =
planning_scene.isStateConstrained(copied_state, kinematic_constraint_set);
ROS_INFO_STREAM("Test 8: Random state is "
<< (constrained_2 ? "constrained" : "not constrained"));
// There's a direct way to do this using the KinematicConstraintSet
// class.
kinematic_constraints::ConstraintEvaluationResult constraint_eval_result =
kinematic_constraint_set.decide(copied_state);
ROS_INFO_STREAM("Test 9: Random state is "
<< (constraint_eval_result.satisfied ? "constrained" : "not constrained"));
// User-defined constraints
// ~~~~~~~~~~~~~~~~~~~~~~~~
//
// CALL_SUB_TUTORIAL userCallback
// Now, whenever isStateFeasible is called, this user-defined callback
// will be called.
planning_scene.setStateFeasibilityPredicate(userCallback);
bool state_feasible = planning_scene.isStateFeasible(copied_state);
ROS_INFO_STREAM("Test 10: Random state is "
<< (state_feasible ? "feasible" : "not feasible"));
// Whenever isStateValid is called, three checks are conducted: (a)
// collision checking (b) constraint checking and (c) feasibility
// checking using the user-defined callback.
bool state_valid =
planning_scene.isStateValid(copied_state, kinematic_constraint_set, "right_arm");
ROS_INFO_STREAM("Test 10: Random state is "
<< (state_valid ? "valid" : "not valid"));
// Note that all the planners available through MoveIt! and OMPL will
// currently perform collision checking, constraint checking and
// feasibility checking using user-defined callbacks.
// 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;
}
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, "workspace_analysis");
ros::AsyncSpinner spinner(1);
spinner.start();
// wait some time for everything to be loaded correctly...
ROS_INFO_STREAM("Waiting a few seconds to load the robot description correctly...");
sleep(3);
ROS_INFO_STREAM("Hope this was enough!");
/*Get some ROS params */
ros::NodeHandle node_handle("~");
double res_x, res_y, res_z;
double min_x, min_y, min_z;
double max_x, max_y, max_z;
double roll, pitch, yaw;
int max_attempts;
double joint_limits_penalty_multiplier;
std::string group_name;
if (!node_handle.getParam("min_x", min_x))
min_x = 0.0;
if (!node_handle.getParam("max_x", max_x))
max_x = 0.0;
if (!node_handle.getParam("res_x", res_x))
res_x = 0.1;
if (!node_handle.getParam("min_y", min_y))
min_y = 0.0;
if (!node_handle.getParam("max_y", max_y))
max_y = 0.0;
if (!node_handle.getParam("res_y", res_y))
res_y = 0.1;
if (!node_handle.getParam("min_z", min_z))
min_z = 0.0;
if (!node_handle.getParam("max_z", max_z))
max_z = 0.0;
if (!node_handle.getParam("res_z", res_z))
res_z = 0.1;
if (!node_handle.getParam("max_attempts", max_attempts))
max_attempts = 10000;
if (!node_handle.getParam("roll", roll))
roll = 0.0;
if (!node_handle.getParam("pitch", pitch))
pitch = 0.0;
if (!node_handle.getParam("yaw", yaw))
yaw = 0.0;
if (!node_handle.getParam("joint_limits_penalty_multiplier", joint_limits_penalty_multiplier))
joint_limits_penalty_multiplier = 0.0;
std::string filename;
if (!node_handle.getParam("filename", filename))
ROS_ERROR("Will not write to file");
std::string quat_filename;
if (!node_handle.getParam("quat_filename", quat_filename))
ROS_ERROR("Will not write to file");
if (!node_handle.getParam("group_name", group_name))
ROS_FATAL("Must have valid group name");
/* 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();
/* Create a robot state*/
robot_state::RobotStatePtr robot_state(new robot_state::RobotState(robot_model));
if(!robot_model->hasJointModelGroup(group_name))
ROS_FATAL("Invalid group name: %s", group_name.c_str());
const robot_model::JointModelGroup* joint_model_group = robot_model->getJointModelGroup(group_name);
/* 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));
moveit_msgs::WorkspaceParameters workspace;
workspace.min_corner.x = min_x;
workspace.min_corner.y = min_y;
workspace.min_corner.z = min_z;
workspace.max_corner.x = max_x;
workspace.max_corner.y = max_y;
workspace.max_corner.z = max_z;
/* Load the workspace analysis */
moveit_workspace_analysis::WorkspaceAnalysis workspace_analysis(planning_scene, true, joint_limits_penalty_multiplier);
ros::Time init_time;
moveit_workspace_analysis::WorkspaceMetrics metrics;
/* Compute the metrics */
bool use_vigir_rpy = true;
if (use_vigir_rpy) {
std::vector<geometry_msgs::Quaternion> orientations;
geometry_msgs::Quaternion quaternion;
//yaw = -M_PI*0.0;
//roll = M_PI*0.49;
// translate roll, pitch and yaw into a Quaternion
tf::Quaternion q;
q.setRPY(roll, pitch, yaw);
geometry_msgs::Quaternion odom_quat;
tf::quaternionTFToMsg(q, quaternion);
orientations.push_back(quaternion);
metrics = workspace_analysis.computeMetrics(workspace, orientations, robot_state.get(), joint_model_group, res_x, res_y, res_z);
} else {
// load the set of quaternions
std::vector<geometry_msgs::Quaternion> orientations;
std::ifstream quat_file;
quat_file.open(quat_filename.c_str());
while(!quat_file.eof())
{
geometry_msgs::Quaternion temp_quat;
orientations.push_back(temp_quat);
}
init_time = ros::Time::now();
metrics = workspace_analysis.computeMetrics(workspace, orientations, robot_state.get(), joint_model_group, res_x, res_y, res_z);
if(metrics.points_.empty())
ROS_WARN_STREAM("No point to be written to file: consider changing the workspace, or recompiling moveit_workspace_analysis with a longer sleeping time at the beginning (if this could be the cause)");
}
//ros::WallDuration duration(100.0);
//moveit_workspace_analysis::WorkspaceMetrics metrics = workspace_analysis.computeMetricsFK(&(*robot_state), joint_model_group, max_attempts, duration);
if(!filename.empty())
if(!metrics.writeToFile(filename,",",false))
ROS_INFO("Could not write to file");
ros::Duration total_duration = ros::Time::now() - init_time;
ROS_INFO_STREAM("Total duration: " << total_duration.toSec() << "s");
ros::shutdown();
return 0;
}
