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MoveTo: reduce scope of try-catch
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@ -129,72 +129,76 @@ bool MoveTo::compute(const InterfaceState &state, planning_scene::PlanningSceneP
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robot_trajectory::RobotTrajectoryPtr robot_trajectory;
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bool success = false;
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size_t cartesian_goals = props.countDefined({"pose", "point"});
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bool has_joint_state_goal;
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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())) {
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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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// 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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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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// 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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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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// 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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// 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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has_joint_state_goal= getJointStateGoal(scene->getCurrentStateNonConst());
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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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if (has_joint_state_goal) {
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if (cartesian_goals > 0)
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ROS_WARN_NAMED("MoveTo", "Ignoring Cartesian goals in favor 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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// 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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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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// 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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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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// 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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// 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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// store result
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if (success || (robot_trajectory && storeFailures())) {
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scene->setCurrentState(robot_trajectory->getLastWayPoint());
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