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https://github.com/moveit/moveit_task_constructor.git
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cleanup
- indentation: space -> tabs - only consider joints of JMG
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@ -44,6 +44,9 @@
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#include <geometry_msgs/PoseStamped.h>
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#include <geometry_msgs/PointStamped.h>
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namespace moveit { namespace core {
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class RobotState;
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} }
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namespace moveit { namespace task_constructor { namespace stages {
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class MoveTo : public PropagatingEitherWay {
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@ -61,10 +64,10 @@ public:
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void setGoal(const geometry_msgs::PoseStamped& pose);
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/// move link to given point, keeping current orientation
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void setGoal(const geometry_msgs::PointStamped& point);
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/// move joint model group to given named pose
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void setGoal(const std::string& joint_pose);
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/// move joints specified in msg to their target values
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void setGoal(const moveit_msgs::RobotState& robot_state);
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/// move joint model group to given named pose
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void setGoal(const std::string& named_joint_pose);
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/// move joints specified in msg to their target values
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void setGoal(const moveit_msgs::RobotState& robot_state);
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void setPathConstraints(moveit_msgs::Constraints path_constraints){
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setProperty("path_constraints", std::move(path_constraints));
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@ -73,6 +76,7 @@ public:
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protected:
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bool compute(const InterfaceState& state, planning_scene::PlanningScenePtr &scene,
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SubTrajectory &trajectory, Direction dir);
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bool getJointStateGoal(moveit::core::RobotState& state, const core::RobotModelConstPtr& robot_model);
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protected:
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solvers::PlannerInterfacePtr planner_;
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@ -55,8 +55,8 @@ MoveTo::MoveTo(const std::string& name, const solvers::PlannerInterfacePtr& plan
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p.declare<geometry_msgs::PoseStamped>("pose", "Cartesian target pose");
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p.declare<geometry_msgs::PointStamped>("point", "Cartesian target point");
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p.declare<std::string>("named_joint_pose", "named joint pose");
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p.declare<moveit_msgs::RobotState>("joint_pose", "joint pose as robot state message");
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p.declare<std::string>("named_joint_pose", "named joint pose");
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p.declare<moveit_msgs::RobotState>("joint_pose", "joint pose");
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p.declare<moveit_msgs::Constraints>("path_constraints", moveit_msgs::Constraints(),
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"constraints to maintain during trajectory");
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@ -80,48 +80,64 @@ void MoveTo::setGoal(const geometry_msgs::PointStamped &point)
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setProperty("point", point);
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}
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void MoveTo::setGoal(const std::string &joint_pose)
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void MoveTo::setGoal(const std::string &named_joint_pose)
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{
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setProperty("named_joint_pose", joint_pose);
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setProperty("named_joint_pose", named_joint_pose);
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}
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void MoveTo::setGoal(const moveit_msgs::RobotState &robot_state)
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void MoveTo::setGoal(const moveit_msgs::RobotState& robot_state)
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{
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setProperty("joint_pose", robot_state);
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setProperty("joint_pose", robot_state);
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}
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void MoveTo::init(const moveit::core::RobotModelConstPtr& robot_model)
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{
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InitStageException errors;
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PropagatingEitherWay::init(robot_model);
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planner_->init(robot_model);
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const auto& props = properties();
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// Check if named_joint_pose is well-defined in JMG.
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robot_state::RobotState state(robot_model);
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getJointStateGoal(state, robot_model);
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}
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// check if named_joint_pose is set. if so, convert to robot state msg
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boost::any goal = props.get("named_joint_pose");
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if (!goal.empty()) {
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const std::string& named_joint_pose = boost::any_cast<std::string>(goal);
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robot_state::RobotState state(robot_model);
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bool MoveTo::getJointStateGoal(moveit::core::RobotState& state,
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const robot_model::RobotModelConstPtr& robot_model) {
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const auto& props = properties();
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if (props.countDefined({"named_joint_pose", "joint_pose"}) == 2)
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throw InitStageException(*this, "Cannot define both, named_joint_pose and joint_pose");
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const std::string& group = props.get<std::string>("group");
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const moveit::core::JointModelGroup* jmg = robot_model->getJointModelGroup(group);
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const std::string& group = props.get<std::string>("group");
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const moveit::core::JointModelGroup* jmg = robot_model->getJointModelGroup(group);
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if (!jmg)
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throw InitStageException(*this, "Unknown joint model group: " + group);
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if (!state.setToDefaultValues(jmg, named_joint_pose)) {
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ROS_WARN("MoveTo: unknown joint pose '%s' for jmg '%s'.", named_joint_pose.c_str(), group.c_str());
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errors.push_back(*this, "MoveTo: unknown joint pose.");
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} else {
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ROS_INFO("MoveTo: setting joint pose '%s' for jmg '%s' as goal.", named_joint_pose.c_str(), group.c_str());
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boost::any goal = props.get("named_joint_pose");
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if (!goal.empty()) {
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const std::string& named_joint_pose = boost::any_cast<std::string>(goal);
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if (!state.setToDefaultValues(jmg, named_joint_pose))
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throw InitStageException(*this, "Unknown joint pose:" + named_joint_pose);
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return true;
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}
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moveit_msgs::RobotState state_msg;
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robot_state::robotStateToRobotStateMsg(state, state_msg);
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goal = props.get("joint_pose");
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if (!goal.empty()) {
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const moveit_msgs::RobotState& msg = boost::any_cast<moveit_msgs::RobotState>(goal);
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if (!msg.is_diff)
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throw InitStageException(*this, "Expecting a diff state");
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setGoal(state_msg);
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}
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}
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// validate specified joints
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const auto& accepted = jmg->getJointModelNames();
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for (const auto &name : msg.joint_state.name)
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if (std::find(accepted.begin(), accepted.end(), name) == accepted.end())
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throw InitStageException(*this, "Joint '" + name + "' is not part of group '" + group + "'");
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for (const auto &name : msg.multi_dof_joint_state.joint_names)
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if (std::find(accepted.begin(), accepted.end(), name) == accepted.end())
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throw InitStageException(*this, "Joint '" + name + "' is not part of group '" + group + "'");
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if (errors) throw errors;
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moveit::core::robotStateMsgToRobotState(msg, state, false);
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return true;
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}
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return false;
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}
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bool MoveTo::compute(const InterfaceState &state, planning_scene::PlanningScenePtr& scene,
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@ -134,76 +150,78 @@ bool MoveTo::compute(const InterfaceState &state, planning_scene::PlanningSceneP
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const std::string& group = props.get<std::string>("group");
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const moveit::core::JointModelGroup* jmg = scene->getRobotModel()->getJointModelGroup(group);
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if (!jmg) {
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ROS_WARN_STREAM("MoveTo: invalid joint model group: " << group);
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return false;
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}
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// only allow single target
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size_t count_goals = props.countDefined({"joint_pose", "pose", "point"});
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if (count_goals != 1) {
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if (count_goals == 0) ROS_WARN("MoveTo: no goal defined");
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else ROS_WARN("MoveTo: cannot plan to multiple goals");
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ROS_WARN_STREAM_NAMED("MoveTo", "Invalid joint model group: " << group);
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return false;
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}
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const auto& path_constraints = props.get<moveit_msgs::Constraints>("path_constraints");
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robot_trajectory::RobotTrajectoryPtr robot_trajectory;
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bool success = false;
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boost::any goal = props.get("joint_pose");
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if (!goal.empty()) {
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const moveit_msgs::RobotState& target_state = boost::any_cast<moveit_msgs::RobotState>(goal);
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scene->setCurrentState(target_state);
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success = planner_->plan(state.scene(), scene, jmg, timeout, robot_trajectory, path_constraints);
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} else {
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// Cartesian targets require the link name
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std::string link_name = props.get<std::string>("link");
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const moveit::core::LinkModel* link;
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if (link_name.empty())
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link_name = solvers::getEndEffectorLink(jmg);
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if (link_name.empty() || !(link = scene->getRobotModel()->getLinkModel(link_name))) {
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ROS_WARN_STREAM("MoveTo: no or invalid link name specified: " << link_name);
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return false;
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}
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try {
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size_t cartesian_goals = props.countDefined({"pose", "point"});
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if (getJointStateGoal(scene->getCurrentStateNonConst(), scene->getRobotModel())) {
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if (cartesian_goals > 0)
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ROS_WARN_NAMED("MoveTo", "Ignoring Cartesian goals in favour of joint space goal");
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// plan to joint-space target
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success = planner_->plan(state.scene(), scene, jmg, timeout, robot_trajectory, path_constraints);
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} else if (cartesian_goals == 1) {
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const moveit::core::LinkModel* link;
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Eigen::Affine3d target_eigen;
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Eigen::Affine3d target_eigen;
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// Cartesian targets require the link name
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// TODO: use ik_frame property as in ComputeIK
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std::string link_name = props.get<std::string>("link");
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if (link_name.empty())
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link_name = solvers::getEndEffectorLink(jmg);
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if (link_name.empty() || !(link = scene->getRobotModel()->getLinkModel(link_name))) {
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ROS_WARN_STREAM_NAMED("MoveTo", "No or invalid link name specified: " << link_name);
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return false;
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}
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goal = props.get("pose");
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if (!goal.empty()) {
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const geometry_msgs::PoseStamped& target = boost::any_cast<geometry_msgs::PoseStamped>(goal);
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tf::poseMsgToEigen(target.pose, target_eigen);
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boost::any goal = props.get("pose");
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if (!goal.empty()) {
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const geometry_msgs::PoseStamped& target = boost::any_cast<geometry_msgs::PoseStamped>(goal);
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tf::poseMsgToEigen(target.pose, target_eigen);
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// transform target into global frame
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const Eigen::Affine3d& frame = scene->getFrameTransform(target.header.frame_id);
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target_eigen = frame * target_eigen;
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// transform target into global frame
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const Eigen::Affine3d& frame = scene->getFrameTransform(target.header.frame_id);
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target_eigen = frame * target_eigen;
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// frame at target pose
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rviz_marker_tools::appendFrame(solution.markers(), target, 0.1, "ik frame");
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// frame at target pose
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rviz_marker_tools::appendFrame(solution.markers(), target, 0.1, "ik frame");
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// frame at link
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geometry_msgs::PoseStamped pose_msg;
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pose_msg.header.frame_id = link_name;
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pose_msg.pose.orientation.w = 1.0;
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rviz_marker_tools::appendFrame(solution.markers(), pose_msg, 0.1, "ik frame");
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}
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// frame at link
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geometry_msgs::PoseStamped pose_msg;
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pose_msg.header.frame_id = link_name;
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pose_msg.pose.orientation.w = 1.0;
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rviz_marker_tools::appendFrame(solution.markers(), pose_msg, 0.1, "ik frame");
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}
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goal = props.get("point");
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if (!goal.empty()) {
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const geometry_msgs::PointStamped& target = boost::any_cast<geometry_msgs::PointStamped>(goal);
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Eigen::Vector3d target_point;
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tf::pointMsgToEigen(target.point, target_point);
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goal = props.get("point");
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if (!goal.empty()) {
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const geometry_msgs::PointStamped& target = boost::any_cast<geometry_msgs::PointStamped>(goal);
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Eigen::Vector3d target_point;
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tf::pointMsgToEigen(target.point, target_point);
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// transform target into global frame
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const Eigen::Affine3d& frame = scene->getFrameTransform(target.header.frame_id);
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target_point = frame * target_point;
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// transform target into global frame
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const Eigen::Affine3d& frame = scene->getFrameTransform(target.header.frame_id);
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target_point = frame * target_point;
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// retain link orientation
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target_eigen = scene->getCurrentState().getGlobalLinkTransform(link_name);
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target_eigen.translation() = target_point;
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}
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// retain link orientation
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target_eigen = scene->getCurrentState().getGlobalLinkTransform(link_name);
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target_eigen.translation() = target_point;
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}
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success = planner_->plan(state.scene(), *link, target_eigen, jmg, timeout, robot_trajectory, path_constraints);
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// plan to Cartesian target
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success = planner_->plan(state.scene(), *link, target_eigen, jmg, timeout, robot_trajectory, path_constraints);
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} else if (cartesian_goals > 1)
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ROS_WARN_NAMED("MoveTo", "Cannot plan to multiple goals");
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else if (cartesian_goals == 0)
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ROS_WARN_NAMED("MoveTo", "No goal defined");
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} catch (const InitStageException &e) {
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ROS_WARN_STREAM_NAMED("MoveTo", e.what());
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return false;
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}
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// store result
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@ -94,7 +94,7 @@ SimpleGraspBase::SimpleGraspBase(const std::string& name, bool forward)
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return boost::any(jmg->getName());
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});
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insert(std::move(move), insertion_position);
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exposePropertyOfChildAs(insertion_position, "named_joint_pose", forward ? "grasp" : "pregrasp");
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exposePropertyOfChildAs(insertion_position, "named_joint_pose", forward ? "grasp" : "pregrasp");
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}
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{
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auto attach = std::make_unique<ModifyPlanningScene>(forward ? "attach object" : "detach object");
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