MoveRelative: added relative joint space goals to

This commit is contained in:
llach 2018-04-05 14:55:15 +02:00 committed by Robert Haschke
parent 0779c255df
commit d0c8f7f819
2 changed files with 38 additions and 4 deletions

View File

@ -63,6 +63,8 @@ public:
void setMaxDistance(double distance);
void setMinMaxDistance(double min_distance, double max_distance);
void setRelativeJointSpaceGoal(const std::map<std::string, double>& goal);
void setPathConstraints(moveit_msgs::Constraints path_constraints){
setProperty("path_constraints", std::move(path_constraints));
}
@ -78,6 +80,7 @@ protected:
protected:
solvers::PlannerInterfacePtr planner_;
bool joint_space_goal_ = false;
};
} } }

View File

@ -57,11 +57,16 @@ MoveRelative::MoveRelative(const std::string& name, const solvers::PlannerInterf
p.declare<geometry_msgs::TwistStamped>("twist", "Cartesian twist transform");
p.declare<geometry_msgs::Vector3Stamped>("direction", "Cartesian translation direction");
p.declare<std::map<std::string, double>>("relative_joint_space_goal", "Relative joint space goal");
p.declare<moveit_msgs::Constraints>("path_constraints", moveit_msgs::Constraints(),
"constraints to maintain during trajectory");
}
void MoveRelative::setRelativeJointSpaceGoal(const std::map<std::string, double>& goal){
setProperty("relative_joint_space_goal", goal);
}
void MoveRelative::setGroup(const std::string& group){
setProperty("group", group);
}
@ -114,7 +119,7 @@ bool MoveRelative::compute(const InterfaceState &state, planning_scene::Planning
}
// only allow single target
size_t count_goals = props.countDefined({"twist", "direction"});
size_t count_goals = props.countDefined({"twist", "direction", "relative_joint_space_goal"});
if (count_goals != 1) {
if (count_goals == 0) ROS_WARN("MoveRelative: no goal defined");
else ROS_WARN("MoveRelative: cannot plan to multiple goals");
@ -207,9 +212,35 @@ bool MoveRelative::compute(const InterfaceState &state, planning_scene::Planning
target_eigen.translation() += linear;
}
robot_trajectory::RobotTrajectoryPtr robot_trajectory;
bool success = planner_->plan(state.scene(), *link, target_eigen, jmg, timeout, robot_trajectory,
props.get<moveit_msgs::Constraints>("path_constraints"));
goal = props.get("relative_joint_space_goal");
if (!goal.empty()) {
const auto &start_state = scene->getCurrentState();
auto& current_state = scene->getCurrentStateNonConst();
joint_space_goal_ = true;
const std::map<std::string, double>& relative_joint_position_map = boost::any_cast<std::map<std::string, double>>(goal);
for (auto j : relative_joint_position_map) {
double new_pos = (start_state.getVariablePosition(j.first) + j.second);
current_state.setVariablePosition(j.first, new_pos);
auto jm = scene->getRobotModel()->getJointModel(j.first);
current_state.enforceBounds(jm);
current_state.update(true);
}
}
robot_trajectory::RobotTrajectoryPtr robot_trajectory;
bool success = false;
if (joint_space_goal_) {
success = planner_->plan(state.scene(), scene, jmg, timeout, robot_trajectory,
props.get<moveit_msgs::Constraints>("path_constraints"));
} else {
success = planner_->plan(state.scene(), *link, target_eigen, jmg, timeout, robot_trajectory,
props.get<moveit_msgs::Constraints>("path_constraints"));
}
// min_distance reached?
if (min_distance > 0.0) {