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https://github.com/moveit/moveit_task_constructor.git
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cleanup
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9a7aa4dad7
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@ -296,6 +296,7 @@ std::ostream& operator<<(std::ostream& os, const std::map<std::string, T>& m) {
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first = false;
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first = false;
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}
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}
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os << "}";
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os << "}";
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return os;
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}
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}
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} // namespace task_constructor
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} // namespace task_constructor
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@ -55,24 +55,42 @@ public:
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bool computeForward(const InterfaceState& from) override;
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bool computeForward(const InterfaceState& from) override;
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bool computeBackward(const InterfaceState& to) override;
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bool computeBackward(const InterfaceState& to) override;
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void setGroup(const std::string& group);
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void setGroup(const std::string& group) {
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void setLink(const std::string& link);
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setProperty("group", group);
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}
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void setLink(const std::string& link) {
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setProperty("link", link);
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}
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/// set minimum / maximum distance to move
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/// set minimum / maximum distance to move
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void setMinDistance(double distance);
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void setMinDistance(double distance) {
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void setMaxDistance(double distance);
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setProperty("min_distance", distance);
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void setMinMaxDistance(double min_distance, double max_distance);
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}
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void setMaxDistance(double distance) {
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setProperty("max_distance", distance);
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}
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void setMinMaxDistance(double min_distance, double max_distance) {
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setProperty("min_distance", min_distance);
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setProperty("max_distance", max_distance);
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}
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void setRelativeJointSpaceGoal(const std::map<std::string, double>& goal);
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void setPathConstraints(moveit_msgs::Constraints path_constraints) {
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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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setProperty("path_constraints", std::move(path_constraints));
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}
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}
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/// perform twist motion on specified link
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/// perform twist motion on specified link
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void along(const geometry_msgs::TwistStamped& twist);
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void along(const geometry_msgs::TwistStamped& twist) {
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setProperty("twist", twist);
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}
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/// translate link along given direction
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/// translate link along given direction
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void along(const geometry_msgs::Vector3Stamped& direction);
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void along(const geometry_msgs::Vector3Stamped& direction) {
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setProperty("direction", direction);
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}
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/// move specified joint variables by given amount
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void about(const std::map<std::string, double>& goal) {
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setProperty("joints", goal);
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}
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protected:
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protected:
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bool compute(const InterfaceState& state, planning_scene::PlanningScenePtr &scene,
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bool compute(const InterfaceState& state, planning_scene::PlanningScenePtr &scene,
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@ -80,7 +98,6 @@ protected:
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protected:
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protected:
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solvers::PlannerInterfacePtr planner_;
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solvers::PlannerInterfacePtr planner_;
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bool joint_space_goal_ = false;
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};
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};
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} } }
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} } }
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@ -86,10 +86,10 @@ public:
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void setApproachRetract(const geometry_msgs::TwistStamped& motion,
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void setApproachRetract(const geometry_msgs::TwistStamped& motion,
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double min_distance, double max_distance);
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double min_distance, double max_distance);
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void setLiftPlace(const geometry_msgs::TwistStamped& motion,
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void setLiftPlace(const geometry_msgs::TwistStamped& motion,
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double min_distance, double max_distance);
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double min_distance, double max_distance);
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void setLiftPlace(const std::map<std::string, double>& joints);
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void setRelativeJointSpaceGoal(const std::map<std::string, double>& relative_joint_space_goal);
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};
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};
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@ -109,9 +109,8 @@ public:
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double min_distance, double max_distance) {
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double min_distance, double max_distance) {
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setLiftPlace(motion, min_distance, max_distance);
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setLiftPlace(motion, min_distance, max_distance);
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}
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}
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void setLiftMotion(const std::map<std::string, double>& joints) {
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void setRelativeJointSpaceLiftGoal(const std::map<std::string, double>& relative_joint_space_goal) {
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setLiftPlace(joints);
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setRelativeJointSpaceGoal(relative_joint_space_goal);
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}
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}
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};
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};
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@ -132,6 +131,9 @@ public:
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double min_distance, double max_distance) {
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double min_distance, double max_distance) {
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setLiftPlace(motion, min_distance, max_distance);
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setLiftPlace(motion, min_distance, max_distance);
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}
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}
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void setPlaceMotion(const std::map<std::string, double>& joints) {
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setLiftPlace(joints);
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}
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};
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};
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@ -52,52 +52,17 @@ MoveRelative::MoveRelative(const std::string& name, const solvers::PlannerInterf
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p.declare<std::string>("marker_ns", "", "marker namespace");
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p.declare<std::string>("marker_ns", "", "marker namespace");
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p.declare<std::string>("group", "name of planning group");
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p.declare<std::string>("group", "name of planning group");
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p.declare<std::string>("link", "", "link to move (default is tip of jmg)");
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p.declare<std::string>("link", "", "link to move (default is tip of jmg)");
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p.declare<double>("min_distance", "minimum distance to move");
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p.declare<double>("min_distance", -1.0, "minimum distance to move");
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p.declare<double>("max_distance", "maximum distance to move");
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p.declare<double>("max_distance", 0.0, "maximum distance to move");
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p.declare<geometry_msgs::TwistStamped>("twist", "Cartesian twist transform");
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p.declare<geometry_msgs::TwistStamped>("twist", "Cartesian twist transform");
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p.declare<geometry_msgs::Vector3Stamped>("direction", "Cartesian translation direction");
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p.declare<geometry_msgs::Vector3Stamped>("direction", "Cartesian translation direction");
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p.declare<std::map<std::string, double>>("relative_joint_space_goal", "Relative joint space goal");
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p.declare<std::map<std::string, double>>("joints", "Relative joint space goal");
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p.declare<moveit_msgs::Constraints>("path_constraints", moveit_msgs::Constraints(),
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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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"constraints to maintain during trajectory");
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}
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}
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void MoveRelative::setRelativeJointSpaceGoal(const std::map<std::string, double>& goal){
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setProperty("relative_joint_space_goal", goal);
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}
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void MoveRelative::setGroup(const std::string& group){
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setProperty("group", group);
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}
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void MoveRelative::setLink(const std::string& link){
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setProperty("link", link);
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}
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void MoveRelative::setMinDistance(double distance){
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setProperty("min_distance", distance);
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}
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void MoveRelative::setMaxDistance(double distance){
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setProperty("max_distance", distance);
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}
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void MoveRelative::setMinMaxDistance(double min_distance, double max_distance){
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setProperty("min_distance", min_distance);
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setProperty("max_distance", max_distance);
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}
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void MoveRelative::along(const geometry_msgs::TwistStamped &twist)
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{
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setProperty("twist", twist);
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}
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void MoveRelative::along(const geometry_msgs::Vector3Stamped &direction)
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{
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setProperty("direction", direction);
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}
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void MoveRelative::init(const moveit::core::RobotModelConstPtr& robot_model)
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void MoveRelative::init(const moveit::core::RobotModelConstPtr& robot_model)
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{
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{
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PropagatingEitherWay::init(robot_model);
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PropagatingEitherWay::init(robot_model);
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@ -114,18 +79,43 @@ bool MoveRelative::compute(const InterfaceState &state, planning_scene::Planning
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const std::string& group = props.get<std::string>("group");
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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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const moveit::core::JointModelGroup* jmg = scene->getRobotModel()->getJointModelGroup(group);
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if (!jmg) {
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if (!jmg) {
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ROS_WARN_STREAM("MoveRelative: invalid joint model group: " << group);
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ROS_WARN_STREAM_NAMED("MoveRelative", "Invalid joint model group: " << group);
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return false;
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return false;
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}
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}
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// only allow single target
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// only allow single target
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size_t count_goals = props.countDefined({"twist", "direction", "relative_joint_space_goal"});
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size_t count_goals = props.countDefined({"twist", "direction", "joints"});
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if (count_goals != 1) {
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if (count_goals != 1) {
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if (count_goals == 0) ROS_WARN("MoveRelative: no goal defined");
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if (count_goals == 0) ROS_WARN_NAMED("MoveRelative", "No goal defined");
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else ROS_WARN("MoveRelative: cannot plan to multiple goals");
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else ROS_WARN_NAMED("MoveRelative", "Cannot plan to multiple goals");
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return false;
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return false;
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}
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}
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double max_distance = props.get<double>("max_distance");
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double min_distance = props.get<double>("min_distance");
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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("joints");
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if (!goal.empty()) {
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const auto& accepted = jmg->getJointModelNames();
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auto& robot_state = scene->getCurrentStateNonConst();
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const auto& joints = boost::any_cast<std::map<std::string, double>>(goal);
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for (auto j : joints) {
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int index = robot_state.getRobotModel()->getVariableIndex(j.first);
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auto jm = scene->getRobotModel()->getJointModel(index);
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if (std::find(accepted.begin(), accepted.end(), j.first) == accepted.end()) {
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ROS_WARN_STREAM_NAMED("MoveRelative", "Ignoring joint " << j.first << " that is not part of group " << group);
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continue;
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}
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robot_state.setVariablePosition(index, robot_state.getVariablePosition(index) + j.second);
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robot_state.enforceBounds(jm);
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}
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robot_state.update();
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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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// Cartesian targets require the link name
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// TODO: use ik_frame property as in ComputeIK
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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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std::string link_name = props.get<std::string>("link");
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@ -133,15 +123,10 @@ bool MoveRelative::compute(const InterfaceState &state, planning_scene::Planning
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if (link_name.empty())
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if (link_name.empty())
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link_name = solvers::getEndEffectorLink(jmg);
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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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if (link_name.empty() || !(link = scene->getRobotModel()->getLinkModel(link_name))) {
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ROS_WARN_STREAM("MoveRelative: no or invalid link name specified: " << link_name);
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ROS_WARN_STREAM_NAMED("MoveRelative", "No or invalid link name specified: " << link_name);
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return false;
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return false;
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}
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}
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Property prop = props.property("max_distance");
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double max_distance = prop.value().empty() ? 0.0 : std::abs(boost::any_cast<double>(prop.value()));
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prop = props.property("min_distance");
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double min_distance = prop.value().empty() ? -1.0 : boost::any_cast<double>(prop.value());
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bool use_rotation_distance = false; // measure achieved distance as rotation?
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bool use_rotation_distance = false; // measure achieved distance as rotation?
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Eigen::Vector3d linear; // linear translation
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Eigen::Vector3d linear; // linear translation
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Eigen::Vector3d angular; // angular rotation
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Eigen::Vector3d angular; // angular rotation
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@ -212,35 +197,7 @@ bool MoveRelative::compute(const InterfaceState &state, planning_scene::Planning
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target_eigen.translation() += linear;
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target_eigen.translation() += linear;
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}
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}
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goal = props.get("relative_joint_space_goal");
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success = planner_->plan(state.scene(), *link, target_eigen, jmg, timeout, robot_trajectory, path_constraints);
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if (!goal.empty()) {
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const auto &start_state = scene->getCurrentState();
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auto& current_state = scene->getCurrentStateNonConst();
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joint_space_goal_ = true;
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const std::map<std::string, double>& relative_joint_position_map = boost::any_cast<std::map<std::string, double>>(goal);
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for (auto j : relative_joint_position_map) {
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double new_pos = (start_state.getVariablePosition(j.first) + j.second);
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current_state.setVariablePosition(j.first, new_pos);
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auto jm = scene->getRobotModel()->getJointModel(j.first);
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current_state.enforceBounds(jm);
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current_state.update(true);
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}
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}
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robot_trajectory::RobotTrajectoryPtr robot_trajectory;
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bool success = false;
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if (joint_space_goal_) {
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success = planner_->plan(state.scene(), scene, jmg, timeout, robot_trajectory,
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props.get<moveit_msgs::Constraints>("path_constraints"));
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} else {
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success = planner_->plan(state.scene(), *link, target_eigen, jmg, timeout, robot_trajectory,
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props.get<moveit_msgs::Constraints>("path_constraints"));
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}
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// min_distance reached?
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// min_distance reached?
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if (min_distance > 0.0) {
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if (min_distance > 0.0) {
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@ -264,13 +221,6 @@ bool MoveRelative::compute(const InterfaceState &state, planning_scene::Planning
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success = true;
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success = true;
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}
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}
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// store result
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if (robot_trajectory && (success || storeFailures())) {
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scene->setCurrentState(robot_trajectory->getLastWayPoint());
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if (dir == BACKWARD) robot_trajectory->reverse();
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trajectory.setTrajectory(robot_trajectory);
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}
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// add an arrow marker
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// add an arrow marker
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visualization_msgs::Marker m;
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visualization_msgs::Marker m;
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// +1 TODO: make "marker" a common property of all stages. However, I would stick with "marker_ns"
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// +1 TODO: make "marker" a common property of all stages. However, I would stick with "marker_ns"
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@ -295,6 +245,14 @@ bool MoveRelative::compute(const InterfaceState &state, planning_scene::Planning
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trajectory.markers().push_back(m);
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trajectory.markers().push_back(m);
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}
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}
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}
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}
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}
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// store result
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if (robot_trajectory && (success || storeFailures())) {
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scene->setCurrentState(robot_trajectory->getLastWayPoint());
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if (dir == BACKWARD) robot_trajectory->reverse();
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trajectory.setTrajectory(robot_trajectory);
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}
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return success;
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return success;
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}
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}
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@ -83,10 +83,10 @@ void PickPlaceBase::setLiftPlace(const geometry_msgs::TwistStamped& motion, doub
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p.set("max_distance", max_distance);
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p.set("max_distance", max_distance);
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}
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}
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void PickPlaceBase::setRelativeJointSpaceGoal(const std::map<std::string, double>& relative_joint_space_goal)
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void PickPlaceBase::setLiftPlace(const std::map<std::string, double>& joints)
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{
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{
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auto& p = lift_stage_->properties();
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auto& p = lift_stage_->properties();
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p.set("relative_joint_space_goal", relative_joint_space_goal);
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p.set("joints", joints);
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}
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}
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} } }
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} } }
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