bool PlacePlan::plan(const planning_scene::PlanningSceneConstPtr &planning_scene, const moveit_msgs::PlaceGoal &goal)
{
double timeout = goal.allowed_planning_time;
ros::WallTime endtime = ros::WallTime::now() + ros::WallDuration(timeout);
std::string attached_object_name = goal.attached_object_name;
const robot_model::JointModelGroup *jmg = NULL;
const robot_model::JointModelGroup *eef = NULL;
// if the group specified is actually an end-effector, we use it as such
if (planning_scene->getRobotModel()->hasEndEffector(goal.group_name))
{
eef = planning_scene->getRobotModel()->getEndEffector(goal.group_name);
if (eef)
{ // if we correctly found the eef, then we try to find out what the planning group is
const std::string &eef_parent = eef->getEndEffectorParentGroup().first;
if (eef_parent.empty())
{
ROS_ERROR_STREAM_NAMED("manipulation", "No parent group to plan in was identified based on end-effector '" << goal.group_name << "'. Please define a parent group in the SRDF.");
error_code_.val = moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME;
return false;
}
else
jmg = planning_scene->getRobotModel()->getJointModelGroup(eef_parent);
}
}
else
{
// if a group name was specified, try to use it
jmg = goal.group_name.empty() ? NULL : planning_scene->getRobotModel()->getJointModelGroup(goal.group_name);
if (jmg)
{
// we also try to find the corresponding eef
const std::vector<std::string> &eef_names = jmg->getAttachedEndEffectorNames();
if (eef_names.empty())
{
ROS_ERROR_STREAM_NAMED("manipulation", "There are no end-effectors specified for group '" << goal.group_name << "'");
error_code_.val = moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME;
return false;
}
else
// check to see if there is an end effector that has attached objects associaded, so we can complete the place
for (std::size_t i = 0 ; i < eef_names.size() ; ++i)
{
std::vector<const robot_state::AttachedBody*> attached_bodies;
const robot_model::JointModelGroup *eg = planning_scene->getRobotModel()->getEndEffector(eef_names[i]);
if (eg)
{
// see if there are objects attached to links in the eef
planning_scene->getCurrentState().getAttachedBodies(attached_bodies, eg);
// is is often possible that the objects are attached to the same link that the eef itself is attached,
// so we check for attached bodies there as well
const robot_model::LinkModel *attached_link_model = planning_scene->getRobotModel()->getLinkModel(eg->getEndEffectorParentGroup().second);
if (attached_link_model)
{
std::vector<const robot_state::AttachedBody*> attached_bodies2;
planning_scene->getCurrentState().getAttachedBodies(attached_bodies2, attached_link_model);
attached_bodies.insert(attached_bodies.end(), attached_bodies2.begin(), attached_bodies2.end());
}
}
// if this end effector has attached objects, we go on
if (!attached_bodies.empty())
{
// if the user specified the name of the attached object to place, we check that indeed
// the group contains this attachd body
if (!attached_object_name.empty())
{
bool found = false;
for (std::size_t j = 0 ; j < attached_bodies.size() ; ++j)
if (attached_bodies[j]->getName() == attached_object_name)
{
found = true;
break;
}
// if the attached body this group has is not the same as the one specified,
// we cannot use this eef
if (!found)
continue;
}
// if we previoulsy have set the eef it means we have more options we could use, so things are ambiguous
if (eef)
{
ROS_ERROR_STREAM_NAMED("manipulation", "There are multiple end-effectors for group '" << goal.group_name <<
"' that are currently holding objects. It is ambiguous which end-effector to use. Please specify it explicitly.");
error_code_.val = moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME;
return false;
}
// set the end effector (this was initialized to NULL above)
eef = planning_scene->getRobotModel()->getEndEffector(eef_names[i]);
}
}
}
}
// if we know the attached object, but not the eef, we can try to identify that
if (!attached_object_name.empty() && !eef)
{
const robot_state::AttachedBody *attached_body = planning_scene->getCurrentState().getAttachedBody(attached_object_name);
if (attached_body)
{
// get the robot model link this attached body is associated to
const robot_model::LinkModel *link = attached_body->getAttachedLink();
// check to see if there is a unique end effector containing the link
const std::vector<const robot_model::JointModelGroup*> &eefs = planning_scene->getRobotModel()->getEndEffectors();
for (std::size_t i = 0 ; i < eefs.size() ; ++i)
if (eefs[i]->hasLinkModel(link->getName()))
{
if (eef)
{
ROS_ERROR_STREAM_NAMED("manipulation", "There are multiple end-effectors that include the link '" << link->getName() <<
"' which is where the body '" << attached_object_name << "' is attached. It is unclear which end-effector to use.");
error_code_.val = moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME;
return false;
}
eef = eefs[i];
}
}
// if the group is also unknown, but we just found out the eef
if (!jmg && eef)
{
const std::string &eef_parent = eef->getEndEffectorParentGroup().first;
if (eef_parent.empty())
{
ROS_ERROR_STREAM_NAMED("manipulation", "No parent group to plan in was identified based on end-effector '" << goal.group_name << "'. Please define a parent group in the SRDF.");
error_code_.val = moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME;
return false;
}
else
jmg = planning_scene->getRobotModel()->getJointModelGroup(eef_parent);
}
}
if (!jmg || !eef)
{
error_code_.val = moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME;
return false;
}
// try to infer attached body name if possible
int loop_count = 0;
while (attached_object_name.empty() && loop_count < 2)
{
// in the first try, look for objects attached to the eef, if the eef is known;
// otherwise, look for attached bodies in the planning group itself
std::vector<const robot_state::AttachedBody*> attached_bodies;
planning_scene->getCurrentState().getAttachedBodies(attached_bodies, loop_count == 0 ? eef : jmg);
loop_count++;
if (attached_bodies.size() > 1)
{
ROS_ERROR_NAMED("manipulation", "Multiple attached bodies for group '%s' but no explicit attached object to place was specified", goal.group_name.c_str());
error_code_.val = moveit_msgs::MoveItErrorCodes::INVALID_OBJECT_NAME;
return false;
}
else
attached_object_name = attached_bodies[0]->getName();
}
const robot_state::AttachedBody *attached_body = planning_scene->getCurrentState().getAttachedBody(attached_object_name);
if (!attached_body)
{
ROS_ERROR_NAMED("manipulation", "There is no object to detach for place action");
error_code_.val = moveit_msgs::MoveItErrorCodes::INVALID_OBJECT_NAME;
return false;
}
ros::WallTime start_time = ros::WallTime::now();
// construct common data for possible manipulation plans
ManipulationPlanSharedDataPtr plan_data(new ManipulationPlanSharedData());
ManipulationPlanSharedDataConstPtr const_plan_data = plan_data;
plan_data->planning_group_ = jmg;
plan_data->end_effector_group_ = eef;
plan_data->ik_link_ = planning_scene->getRobotModel()->getLinkModel(eef->getEndEffectorParentGroup().second);
plan_data->timeout_ = endtime;
plan_data->path_constraints_ = goal.path_constraints;
plan_data->planner_id_ = goal.planner_id;
plan_data->minimize_object_distance_ = false;
plan_data->max_goal_sampling_attempts_ = std::max(2u, jmg->getDefaultIKAttempts());
moveit_msgs::AttachedCollisionObject &detach_object_msg = plan_data->diff_attached_object_;
// construct the attached object message that will change the world to what it would become after a placement
detach_object_msg.link_name = attached_body->getAttachedLinkName();
detach_object_msg.object.id = attached_object_name;
detach_object_msg.object.operation = moveit_msgs::CollisionObject::REMOVE;
collision_detection::AllowedCollisionMatrixPtr approach_place_acm(new collision_detection::AllowedCollisionMatrix(planning_scene->getAllowedCollisionMatrix()));
// we are allowed to touch certain other objects with the gripper
approach_place_acm->setEntry(eef->getLinkModelNames(), goal.allowed_touch_objects, true);
// we are allowed to touch the target object slightly while retreating the end effector
std::vector<std::string> touch_links(attached_body->getTouchLinks().begin(), attached_body->getTouchLinks().end());
approach_place_acm->setEntry(attached_object_name, touch_links, true);
if (!goal.support_surface_name.empty())
{
// we are allowed to have contact between the target object and the support surface before the place
approach_place_acm->setEntry(goal.support_surface_name, attached_object_name, true);
// optionally, it may be allowed to touch the support surface with the gripper
if (goal.allow_gripper_support_collision)
approach_place_acm->setEntry(goal.support_surface_name, eef->getLinkModelNames(), true);
}
// configure the manipulation pipeline
pipeline_.reset();
ManipulationStagePtr stage1(new ReachableAndValidPoseFilter(planning_scene, approach_place_acm, pick_place_->getConstraintsSamplerManager()));
ManipulationStagePtr stage2(new ApproachAndTranslateStage(planning_scene, approach_place_acm));
ManipulationStagePtr stage3(new PlanStage(planning_scene, pick_place_->getPlanningPipeline()));
pipeline_.addStage(stage1).addStage(stage2).addStage(stage3);
initialize();
pipeline_.start();
// add possible place locations
for (std::size_t i = 0 ; i < goal.place_locations.size() ; ++i)
{
ManipulationPlanPtr p(new ManipulationPlan(const_plan_data));
const moveit_msgs::PlaceLocation &pl = goal.place_locations[i];
if (goal.place_eef)
p->goal_pose_ = pl.place_pose;
else
// The goals are specified for the attached body
// but we want to transform them into goals for the end-effector instead
if (!transformToEndEffectorGoal(pl.place_pose, attached_body, p->goal_pose_))
{
p->goal_pose_ = pl.place_pose;
ROS_ERROR_NAMED("manipulation", "Unable to transform the desired pose of the object to the pose of the end-effector");
}
p->approach_ = pl.pre_place_approach;
p->retreat_ = pl.post_place_retreat;
p->retreat_posture_ = pl.post_place_posture;
p->id_ = i;
if (p->retreat_posture_.joint_names.empty())
p->retreat_posture_ = attached_body->getDetachPosture();
pipeline_.push(p);
}
ROS_INFO_NAMED("manipulation", "Added %d place locations", (int) goal.place_locations.size());
// wait till we're done
waitForPipeline(endtime);
pipeline_.stop();
last_plan_time_ = (ros::WallTime::now() - start_time).toSec();
if (!getSuccessfulManipulationPlans().empty())
error_code_.val = moveit_msgs::MoveItErrorCodes::SUCCESS;
else
{
if (last_plan_time_ > timeout)
error_code_.val = moveit_msgs::MoveItErrorCodes::TIMED_OUT;
else
{
error_code_.val = moveit_msgs::MoveItErrorCodes::PLANNING_FAILED;
if (goal.place_locations.size() > 0)
{
ROS_WARN_NAMED("manipulation", "All supplied place locations failed. Retrying last location in verbose mode.");
// everything failed. we now start the pipeline again in verbose mode for one grasp
initialize();
pipeline_.setVerbose(true);
pipeline_.start();
pipeline_.reprocessLastFailure();
waitForPipeline(ros::WallTime::now() + ros::WallDuration(1.0));
pipeline_.stop();
pipeline_.setVerbose(false);
}
}
}
ROS_INFO_NAMED("manipulation", "Place planning completed after %lf seconds", last_plan_time_);
return error_code_.val == moveit_msgs::MoveItErrorCodes::SUCCESS;
}
bool PickPlan::plan(const planning_scene::PlanningSceneConstPtr &planning_scene, const moveit_msgs::PickupGoal &goal)
{
double timeout = goal.allowed_planning_time;
ros::WallTime endtime = ros::WallTime::now() + ros::WallDuration(timeout);
std::string planning_group = goal.group_name;
std::string end_effector = goal.end_effector;
if (end_effector.empty() && !planning_group.empty())
{
const robot_model::JointModelGroup *jmg = planning_scene->getRobotModel()->getJointModelGroup(planning_group);
if (!jmg)
{
error_code_.val = moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME;
return false;
}
const std::vector<std::string> &eefs = jmg->getAttachedEndEffectorNames();
if (!eefs.empty())
{
end_effector = eefs.front();
if (eefs.size() > 1)
ROS_WARN_STREAM_NAMED("manipulation", "Choice of end-effector for group '" << planning_group << "' is ambiguous. Assuming '" << end_effector << "'");
}
}
else
if (!end_effector.empty() && planning_group.empty())
{
const robot_model::JointModelGroup *jmg = planning_scene->getRobotModel()->getEndEffector(end_effector);
if (!jmg)
{
error_code_.val = moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME;
return false;
}
planning_group = jmg->getEndEffectorParentGroup().first;
if (planning_group.empty())
{
ROS_ERROR_STREAM_NAMED("manipulation", "No parent group to plan in was identified based on end-effector '" << end_effector << "'. Please define a parent group in the SRDF.");
error_code_.val = moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME;
return false;
}
else
ROS_INFO_STREAM_NAMED("manipulation", "Assuming the planning group for end effector '" << end_effector << "' is '" << planning_group << "'");
}
const robot_model::JointModelGroup *eef = end_effector.empty() ? NULL : planning_scene->getRobotModel()->getEndEffector(end_effector);
if (!eef)
{
ROS_ERROR_NAMED("manipulation", "No end-effector specified for pick action");
error_code_.val = moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME;
return false;
}
const std::string &ik_link = eef->getEndEffectorParentGroup().second;
ros::WallTime start_time = ros::WallTime::now();
// construct common data for possible manipulation plans
ManipulationPlanSharedDataPtr plan_data(new ManipulationPlanSharedData());
ManipulationPlanSharedDataConstPtr const_plan_data = plan_data;
plan_data->planning_group_ = planning_scene->getRobotModel()->getJointModelGroup(planning_group);
plan_data->end_effector_group_ = eef;
plan_data->ik_link_ = planning_scene->getRobotModel()->getLinkModel(ik_link);
plan_data->timeout_ = endtime;
plan_data->path_constraints_ = goal.path_constraints;
plan_data->planner_id_ = goal.planner_id;
plan_data->minimize_object_distance_ = goal.minimize_object_distance;
plan_data->max_goal_sampling_attempts_ = std::max(2u, plan_data->planning_group_->getDefaultIKAttempts());
moveit_msgs::AttachedCollisionObject &attach_object_msg = plan_data->diff_attached_object_;
// construct the attached object message that will change the world to what it would become after a pick
attach_object_msg.link_name = ik_link;
attach_object_msg.object.id = goal.target_name;
attach_object_msg.object.operation = moveit_msgs::CollisionObject::ADD;
attach_object_msg.touch_links = goal.attached_object_touch_links.empty() ? eef->getLinkModelNames() : goal.attached_object_touch_links;
collision_detection::AllowedCollisionMatrixPtr approach_grasp_acm(new collision_detection::AllowedCollisionMatrix(planning_scene->getAllowedCollisionMatrix()));
// we are allowed to touch the target object
approach_grasp_acm->setEntry(goal.target_name, attach_object_msg.touch_links, true);
// we are allowed to touch certain other objects with the gripper
approach_grasp_acm->setEntry(eef->getLinkModelNames(), goal.allowed_touch_objects, true);
if (!goal.support_surface_name.empty())
{
// we are allowed to have contact between the target object and the support surface before the grasp
approach_grasp_acm->setEntry(goal.support_surface_name, goal.target_name, true);
// optionally, it may be allowed to touch the support surface with the gripper
if (goal.allow_gripper_support_collision)
approach_grasp_acm->setEntry(goal.support_surface_name, eef->getLinkModelNames(), true);
}
// configure the manipulation pipeline
pipeline_.reset();
ManipulationStagePtr stage1(new ReachableAndValidPoseFilter(planning_scene, approach_grasp_acm, pick_place_->getConstraintsSamplerManager()));
ManipulationStagePtr stage2(new ApproachAndTranslateStage(planning_scene, approach_grasp_acm));
ManipulationStagePtr stage3(new PlanStage(planning_scene, pick_place_->getPlanningPipeline()));
pipeline_.addStage(stage1).addStage(stage2).addStage(stage3);
initialize();
pipeline_.start();
// order the grasps by quality
std::vector<std::size_t> grasp_order(goal.possible_grasps.size());
for (std::size_t i = 0 ; i < goal.possible_grasps.size() ; ++i)
grasp_order[i] = i;
OrderGraspQuality oq(goal.possible_grasps);
std::sort(grasp_order.begin(), grasp_order.end(), oq);
// feed the available grasps to the stages we set up
for (std::size_t i = 0 ; i < goal.possible_grasps.size() ; ++i)
{
ManipulationPlanPtr p(new ManipulationPlan(const_plan_data));
const moveit_msgs::Grasp &g = goal.possible_grasps[grasp_order[i]];
p->approach_ = g.pre_grasp_approach;
p->retreat_ = g.post_grasp_retreat;
p->goal_pose_ = g.grasp_pose;
p->id_ = grasp_order[i];
// if no frame of reference was specified, assume the transform to be in the reference frame of the object
if (p->goal_pose_.header.frame_id.empty())
p->goal_pose_.header.frame_id = goal.target_name;
p->approach_posture_ = g.pre_grasp_posture;
p->retreat_posture_ = g.grasp_posture;
pipeline_.push(p);
}
// wait till we're done
waitForPipeline(endtime);
pipeline_.stop();
last_plan_time_ = (ros::WallTime::now() - start_time).toSec();
if (!getSuccessfulManipulationPlans().empty())
error_code_.val = moveit_msgs::MoveItErrorCodes::SUCCESS;
else
{
if (last_plan_time_ > timeout)
error_code_.val = moveit_msgs::MoveItErrorCodes::TIMED_OUT;
else
{
error_code_.val = moveit_msgs::MoveItErrorCodes::PLANNING_FAILED;
if (goal.possible_grasps.size() > 0)
{
ROS_WARN_NAMED("manipulation", "All supplied grasps failed. Retrying last grasp in verbose mode.");
// everything failed. we now start the pipeline again in verbose mode for one grasp
initialize();
pipeline_.setVerbose(true);
pipeline_.start();
pipeline_.reprocessLastFailure();
waitForPipeline(ros::WallTime::now() + ros::WallDuration(1.0));
pipeline_.stop();
pipeline_.setVerbose(false);
}
}
}
ROS_INFO_NAMED("manipulation", "Pickup planning completed after %lf seconds", last_plan_time_);
return error_code_.val == moveit_msgs::MoveItErrorCodes::SUCCESS;
}