MoveTo: reduce scope of try-catch

This commit is contained in:
v4hn 2018-05-30 18:44:26 +02:00
parent bbd274da96
commit b8e6e5e2fa

View File

@ -129,72 +129,76 @@ bool MoveTo::compute(const InterfaceState &state, planning_scene::PlanningSceneP
robot_trajectory::RobotTrajectoryPtr robot_trajectory;
bool success = false;
size_t cartesian_goals = props.countDefined({"pose", "point"});
bool has_joint_state_goal;
try {
size_t cartesian_goals = props.countDefined({"pose", "point"});
if (getJointStateGoal(scene->getCurrentStateNonConst())) {
if (cartesian_goals > 0)
ROS_WARN_NAMED("MoveTo", "Ignoring Cartesian goals in favour of joint space goal");
// plan to joint-space target
success = planner_->plan(state.scene(), scene, jmg, timeout, robot_trajectory, path_constraints);
} else if (cartesian_goals == 1) {
const moveit::core::LinkModel* link;
Eigen::Affine3d target_eigen;
// Cartesian targets require the link name
// TODO: use ik_frame property as in ComputeIK
std::string link_name = props.get<std::string>("link");
if (link_name.empty())
link_name = solvers::getEndEffectorLink(jmg);
if (link_name.empty() || !(link = scene->getRobotModel()->getLinkModel(link_name))) {
ROS_WARN_STREAM_NAMED("MoveTo", "No or invalid link name specified: " << link_name);
return false;
}
boost::any goal = props.get("pose");
if (!goal.empty()) {
const geometry_msgs::PoseStamped& target = boost::any_cast<geometry_msgs::PoseStamped>(goal);
tf::poseMsgToEigen(target.pose, target_eigen);
// transform target into global frame
const Eigen::Affine3d& frame = scene->getFrameTransform(target.header.frame_id);
target_eigen = frame * target_eigen;
// frame at target pose
rviz_marker_tools::appendFrame(solution.markers(), target, 0.1, "ik frame");
// frame at link
geometry_msgs::PoseStamped pose_msg;
pose_msg.header.frame_id = link_name;
pose_msg.pose.orientation.w = 1.0;
rviz_marker_tools::appendFrame(solution.markers(), pose_msg, 0.1, "ik frame");
}
goal = props.get("point");
if (!goal.empty()) {
const geometry_msgs::PointStamped& target = boost::any_cast<geometry_msgs::PointStamped>(goal);
Eigen::Vector3d target_point;
tf::pointMsgToEigen(target.point, target_point);
// transform target into global frame
const Eigen::Affine3d& frame = scene->getFrameTransform(target.header.frame_id);
target_point = frame * target_point;
// retain link orientation
target_eigen = scene->getCurrentState().getGlobalLinkTransform(link_name);
target_eigen.translation() = target_point;
}
// plan to Cartesian target
success = planner_->plan(state.scene(), *link, target_eigen, jmg, timeout, robot_trajectory, path_constraints);
} else if (cartesian_goals > 1)
ROS_WARN_NAMED("MoveTo", "Cannot plan to multiple goals");
else if (cartesian_goals == 0)
ROS_WARN_NAMED("MoveTo", "No goal defined");
has_joint_state_goal= getJointStateGoal(scene->getCurrentStateNonConst());
} catch (const InitStageException &e) {
ROS_WARN_STREAM_NAMED("MoveTo", e.what());
return false;
}
if (has_joint_state_goal) {
if (cartesian_goals > 0)
ROS_WARN_NAMED("MoveTo", "Ignoring Cartesian goals in favor of joint space goal");
// plan to joint-space target
success = planner_->plan(state.scene(), scene, jmg, timeout, robot_trajectory, path_constraints);
} else if (cartesian_goals == 1) {
const moveit::core::LinkModel* link;
Eigen::Affine3d target_eigen;
// Cartesian targets require the link name
// TODO: use ik_frame property as in ComputeIK
std::string link_name = props.get<std::string>("link");
if (link_name.empty())
link_name = solvers::getEndEffectorLink(jmg);
if (link_name.empty() || !(link = scene->getRobotModel()->getLinkModel(link_name))) {
ROS_WARN_STREAM_NAMED("MoveTo", "No or invalid link name specified: " << link_name);
return false;
}
boost::any goal = props.get("pose");
if (!goal.empty()) {
const geometry_msgs::PoseStamped& target = boost::any_cast<geometry_msgs::PoseStamped>(goal);
tf::poseMsgToEigen(target.pose, target_eigen);
// transform target into global frame
const Eigen::Affine3d& frame = scene->getFrameTransform(target.header.frame_id);
target_eigen = frame * target_eigen;
// frame at target pose
rviz_marker_tools::appendFrame(solution.markers(), target, 0.1, "ik frame");
// frame at link
geometry_msgs::PoseStamped pose_msg;
pose_msg.header.frame_id = link_name;
pose_msg.pose.orientation.w = 1.0;
rviz_marker_tools::appendFrame(solution.markers(), pose_msg, 0.1, "ik frame");
}
goal = props.get("point");
if (!goal.empty()) {
const geometry_msgs::PointStamped& target = boost::any_cast<geometry_msgs::PointStamped>(goal);
Eigen::Vector3d target_point;
tf::pointMsgToEigen(target.point, target_point);
// transform target into global frame
const Eigen::Affine3d& frame = scene->getFrameTransform(target.header.frame_id);
target_point = frame * target_point;
// retain link orientation
target_eigen = scene->getCurrentState().getGlobalLinkTransform(link_name);
target_eigen.translation() = target_point;
}
// plan to Cartesian target
success = planner_->plan(state.scene(), *link, target_eigen, jmg, timeout, robot_trajectory, path_constraints);
} else if (cartesian_goals > 1)
ROS_WARN_NAMED("MoveTo", "Cannot plan to multiple goals");
else if (cartesian_goals == 0)
ROS_WARN_NAMED("MoveTo", "No goal defined");
// store result
if (success || (robot_trajectory && storeFailures())) {
scene->setCurrentState(robot_trajectory->getLastWayPoint());