moved plan publishing into debug.cpp

This commit is contained in:
Robert Haschke 2017-09-28 19:40:07 -07:00
parent fd62e46828
commit 6d10f7e835
7 changed files with 79 additions and 53 deletions

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@ -34,6 +34,7 @@ target_link_libraries(${PROJECT_NAME}_subtasks ${catkin_LIBRARIES})
add_library(${PROJECT_NAME}
src/subtask.cpp
src/task.cpp
src/debug.cpp
)
add_subdirectory(src/demo)

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@ -0,0 +1,16 @@
#pragma once
#include <moveit/macros/class_forward.h>
#include <moveit_msgs/DisplayTrajectory.h>
namespace moveit { namespace task_constructor {
MOVEIT_CLASS_FORWARD(Task)
MOVEIT_CLASS_FORWARD(SubTrajectory)
bool publishSolution(ros::Publisher& pub, moveit_msgs::DisplayTrajectory& dt,
std::vector<SubTrajectory*>& solution, bool wait);
void publishAllPlans(const Task &task, const std::string &topic = "task_plan", bool wait = true);
} }

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@ -11,27 +11,25 @@
#include <vector>
namespace planning_scene {
MOVEIT_CLASS_FORWARD(PlanningScene);
MOVEIT_CLASS_FORWARD(PlanningScene)
}
namespace robot_model_loader {
MOVEIT_CLASS_FORWARD(RobotModelLoader);
MOVEIT_CLASS_FORWARD(RobotModelLoader)
}
namespace planning_pipeline {
MOVEIT_CLASS_FORWARD(PlanningPipeline);
MOVEIT_CLASS_FORWARD(PlanningPipeline)
}
namespace robot_trajectory {
MOVEIT_CLASS_FORWARD(RobotTrajectory);
}
namespace moveit { namespace core {
MOVEIT_CLASS_FORWARD(RobotState)
}}
namespace moveit { namespace task_constructor {
MOVEIT_CLASS_FORWARD(SubTask);
MOVEIT_CLASS_FORWARD(Task);
MOVEIT_CLASS_FORWARD(SubTask)
MOVEIT_CLASS_FORWARD(Task)
class Task {
public:
@ -44,9 +42,9 @@ public:
bool plan();
bool processSolutions(SolutionCallback& processor);
bool processSolutions(SolutionCallback& processor) const;
void publishPlans();
const moveit::core::RobotState &getCurrentRobotState() const;
void printState();

42
src/debug.cpp Normal file
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@ -0,0 +1,42 @@
#include <moveit_task_constructor/debug.h>
#include <moveit_task_constructor/task.h>
#include <ros/ros.h>
#include <moveit/robot_trajectory/robot_trajectory.h>
#include <moveit/robot_state/conversions.h>
namespace moveit { namespace task_constructor {
bool publishSolution(ros::Publisher& pub, moveit_msgs::DisplayTrajectory& dt,
std::vector<SubTrajectory*>& solution, bool wait){
dt.trajectory.clear();
for(auto& t : solution){
if(t->trajectory){
dt.trajectory.emplace_back();
t->trajectory->getRobotTrajectoryMsg(dt.trajectory.back());
}
}
std::cout << "publishing solution" << std::endl;
pub.publish(dt);
if (wait) {
std::cout << "Press <Enter> to continue ..." << std::endl;
getchar();
}
return true;
}
void publishAllPlans(const Task &task, const std::string &topic, bool wait){
ros::NodeHandle n;
ros::Publisher pub = n.advertise<moveit_msgs::DisplayTrajectory>(topic, 1, true);
moveit_msgs::DisplayTrajectory dt;
robot_state::robotStateToRobotStateMsg(task.getCurrentRobotState(), dt.trajectory_start);
dt.model_id= task.getCurrentRobotState().getRobotModel()->getName();
Task::SolutionCallback processor= std::bind(
&publishSolution, pub, dt, std::placeholders::_1, wait);
task.processSolutions(processor);
}
} }

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@ -1,4 +1,5 @@
#include <moveit_task_constructor/task.h>
#include <moveit_task_constructor/debug.h>
#include <moveit_task_constructor/subtasks/current_state.h>
#include <moveit_task_constructor/subtasks/gripper.h>
@ -109,9 +110,7 @@ int main(int argc, char** argv){
t.plan();
t.publishPlans();
//t.printState();
publishAllPlans(t);
return 0;
}

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@ -1,4 +1,5 @@
#include <moveit_task_constructor/task.h>
#include <moveit_task_constructor/debug.h>
#include <moveit_task_constructor/subtasks/current_state.h>
#include <moveit_task_constructor/subtasks/gripper.h>
@ -106,9 +107,7 @@ int main(int argc, char** argv){
t.plan();
t.publishPlans();
//t.printState();
publishAllPlans(t);
return 0;
}

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@ -4,11 +4,8 @@
#include <ros/ros.h>
#include <moveit_msgs/GetPlanningScene.h>
#include <moveit_msgs/DisplayTrajectory.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/robot_trajectory/robot_trajectory.h>
#include <moveit/robot_state/conversions.h>
#include <moveit/planning_pipeline/planning_pipeline.h>
namespace moveit { namespace task_constructor {
@ -59,6 +56,7 @@ void Task::clear(){
}
bool Task::plan(){
bool computed= true;
while(ros::ok() && computed){
computed= false;
@ -89,6 +87,10 @@ void Task::add( SubTaskPtr subtask ){
subtasks_.push_back( subtask );
}
const robot_state::RobotState& Task::getCurrentRobotState() const {
return scene_->getCurrentState();
}
void Task::printState(){
for( auto& st : subtasks_ ){
std::cout
@ -129,7 +131,7 @@ bool traverseFullTrajectories(
}
}
bool Task::processSolutions(Task::SolutionCallback& processor ){
bool Task::processSolutions(Task::SolutionCallback& processor) const {
const size_t nr_of_trajectories= subtasks_.size();
std::vector<SubTrajectory*> trace;
trace.reserve(nr_of_trajectories);
@ -139,35 +141,4 @@ bool Task::processSolutions(Task::SolutionCallback& processor ){
return true;
}
namespace {
bool publishSolution(ros::Publisher& pub, moveit_msgs::DisplayTrajectory& dt, std::vector<SubTrajectory*>& solution){
dt.trajectory.clear();
for(auto& t : solution){
if(t->trajectory){
dt.trajectory.emplace_back();
t->trajectory->getRobotTrajectoryMsg(dt.trajectory.back());
}
}
std::cout << "publishing solution" << std::endl;
pub.publish(dt);
std::cout << "Press <Enter> to continue ..." << std::endl;
getchar();
return true;
}
}
void Task::publishPlans(){
ros::NodeHandle n;
ros::Publisher pub = n.advertise<moveit_msgs::DisplayTrajectory>("task_plan", 1, true);
moveit_msgs::DisplayTrajectory dt;
robot_state::robotStateToRobotStateMsg(scene_->getCurrentState(), dt.trajectory_start);
dt.model_id= scene_->getRobotModel()->getName();
Task::SolutionCallback processor= std::bind(
&publishSolution, pub, dt, std::placeholders::_1);
processSolutions(processor);
}
} }