moveit_task_constructor/demo/src/cartesian.cpp
2020-04-03 11:36:05 +02:00

151 lines
5.6 KiB
C++

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/* Author: Robert Haschke
Desc: Planning a simple sequence of Cartesian motions
*/
#include <moveit/task_constructor/task.h>
#include <moveit/task_constructor/stages/fixed_state.h>
#include <moveit/task_constructor/solvers/cartesian_path.h>
#include <moveit/task_constructor/solvers/joint_interpolation.h>
#include <moveit/task_constructor/stages/move_to.h>
#include <moveit/task_constructor/stages/move_relative.h>
#include <moveit/task_constructor/stages/connect.h>
#include <ros/ros.h>
#include <moveit/planning_scene/planning_scene.h>
using namespace moveit::task_constructor;
Task createTask() {
Task t;
t.stages()->setName("Cartesian Path");
const std::string group = "panda_arm";
const std::string eef = "hand";
// create Cartesian interpolation "planner" to be used in various stages
auto cartesian_interpolation = std::make_shared<solvers::CartesianPath>();
// create a joint-space interpolation "planner" to be used in various stages
auto joint_interpolation = std::make_shared<solvers::JointInterpolationPlanner>();
// start from a fixed robot state
t.loadRobotModel();
auto scene = std::make_shared<planning_scene::PlanningScene>(t.getRobotModel());
{
auto& state = scene->getCurrentStateNonConst();
state.setToDefaultValues(state.getJointModelGroup(group), "ready");
auto fixed = std::make_unique<stages::FixedState>("initial state");
fixed->setState(scene);
t.add(std::move(fixed));
}
{
auto stage = std::make_unique<stages::MoveRelative>("x +0.2", cartesian_interpolation);
stage->setGroup(group);
geometry_msgs::Vector3Stamped direction;
direction.header.frame_id = "world";
direction.vector.x = 0.2;
stage->setDirection(direction);
t.add(std::move(stage));
}
{
auto stage = std::make_unique<stages::MoveRelative>("y -0.3", cartesian_interpolation);
stage->setGroup(group);
geometry_msgs::Vector3Stamped direction;
direction.header.frame_id = "world";
direction.vector.y = -0.3;
stage->setDirection(direction);
t.add(std::move(stage));
}
{ // rotate about TCP
auto stage = std::make_unique<stages::MoveRelative>("rz +45°", cartesian_interpolation);
stage->setGroup(group);
geometry_msgs::TwistStamped twist;
twist.header.frame_id = "world";
twist.twist.angular.z = M_PI / 4.;
stage->setDirection(twist);
t.add(std::move(stage));
}
{ // perform a Cartesian motion, defined as a relative offset in joint space
auto stage = std::make_unique<stages::MoveRelative>("joint offset", cartesian_interpolation);
stage->setGroup(group);
std::map<std::string, double> offsets = { { "panda_joint1", M_PI / 6. }, { "panda_joint3", -M_PI / 6 } };
stage->setDirection(offsets);
t.add(std::move(stage));
}
{ // move gripper into predefined open state
auto stage = std::make_unique<stages::MoveTo>("open gripper", joint_interpolation);
stage->setGroup(eef);
stage->setGoal("open");
t.add(std::move(stage));
}
{ // move from reached state back to the original state, using joint interpolation
// specifying two groups (arm and hand) will try to merge both trajectories
stages::Connect::GroupPlannerVector planners = { { group, joint_interpolation }, { eef, joint_interpolation } };
auto connect = std::make_unique<stages::Connect>("connect", planners);
t.add(std::move(connect));
}
{ // final state is original state again
auto fixed = std::make_unique<stages::FixedState>("final state");
fixed->setState(scene);
t.add(std::move(fixed));
}
return t;
}
int main(int argc, char** argv) {
ros::init(argc, argv, "mtc_tutorial");
// run an asynchronous spinner to communicate with the move_group node and rviz
ros::AsyncSpinner spinner(1);
spinner.start();
auto task = createTask();
try {
if (task.plan())
task.introspection().publishSolution(*task.solutions().front());
} catch (const InitStageException& ex) {
std::cerr << "planning failed with exception" << std::endl << ex << task;
}
ros::waitForShutdown(); // keep alive for interactive inspection in rviz
return 0;
}