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)
{
/*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, "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;
}