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143 lines
5.3 KiB
C++
143 lines
5.3 KiB
C++
/*********************************************************************
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* Copyright (c) 2019 Bielefeld University
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright notice, this
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* list of conditions and the following disclaimer.
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*
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* * Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* * Neither the name of the copyright holder nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: Robert Haschke
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Desc: Planning a simple sequence of Cartesian motions
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*/
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#include <moveit/task_constructor/task.h>
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#include <moveit/task_constructor/stages/fixed_state.h>
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#include <moveit/task_constructor/solvers/cartesian_path.h>
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#include <moveit/task_constructor/solvers/joint_interpolation.h>
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#include <moveit/task_constructor/stages/move_to.h>
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#include <moveit/task_constructor/stages/move_relative.h>
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#include <moveit/task_constructor/stages/connect.h>
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#include <rclcpp/rclcpp.hpp>
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#include <moveit/planning_scene/planning_scene.h>
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using namespace moveit::task_constructor;
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Task createTask(const rclcpp::Node::SharedPtr& node) {
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Task t;
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t.stages()->setName("Cartesian Path");
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const std::string group = "panda_arm";
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const std::string eef = "hand";
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// create Cartesian interpolation "planner" to be used in various stages
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auto cartesian_interpolation = std::make_shared<solvers::CartesianPath>();
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// create a joint-space interpolation "planner" to be used in various stages
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auto joint_interpolation = std::make_shared<solvers::JointInterpolationPlanner>();
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// start from a fixed robot state
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t.loadRobotModel(node);
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auto scene = std::make_shared<planning_scene::PlanningScene>(t.getRobotModel());
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{
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auto& state = scene->getCurrentStateNonConst();
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state.setToDefaultValues(state.getJointModelGroup(group), "ready");
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auto fixed = std::make_unique<stages::FixedState>("initial state");
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fixed->setState(scene);
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t.add(std::move(fixed));
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}
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{
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auto stage = std::make_unique<stages::MoveRelative>("x +0.2", cartesian_interpolation);
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stage->setGroup(group);
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geometry_msgs::msg::Vector3Stamped direction;
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direction.header.frame_id = "world";
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direction.vector.x = 0.2;
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stage->setDirection(direction);
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t.add(std::move(stage));
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}
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{
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auto stage = std::make_unique<stages::MoveRelative>("y -0.3", cartesian_interpolation);
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stage->setGroup(group);
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geometry_msgs::msg::Vector3Stamped direction;
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direction.header.frame_id = "world";
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direction.vector.y = -0.3;
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stage->setDirection(direction);
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t.add(std::move(stage));
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}
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{ // rotate about TCP
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auto stage = std::make_unique<stages::MoveRelative>("rz +45°", cartesian_interpolation);
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stage->setGroup(group);
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geometry_msgs::msg::TwistStamped twist;
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twist.header.frame_id = "world";
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twist.twist.angular.z = M_PI / 4.;
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stage->setDirection(twist);
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t.add(std::move(stage));
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}
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{ // perform a Cartesian motion, defined as a relative offset in joint space
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auto stage = std::make_unique<stages::MoveRelative>("joint offset", cartesian_interpolation);
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stage->setGroup(group);
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std::map<std::string, double> offsets = { { "panda_joint1", M_PI / 6. }, { "panda_joint3", -M_PI / 6 } };
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stage->setDirection(offsets);
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t.add(std::move(stage));
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}
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{ // move from reached state back to the original state, using joint interpolation
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stages::Connect::GroupPlannerVector planners = { { group, joint_interpolation } };
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auto connect = std::make_unique<stages::Connect>("connect", planners);
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t.add(std::move(connect));
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}
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{ // final state is original state again
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auto fixed = std::make_unique<stages::FixedState>("final state");
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fixed->setState(scene);
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t.add(std::move(fixed));
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}
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return t;
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}
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int main(int argc, char** argv) {
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rclcpp::init(argc, argv);
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auto node = rclcpp::Node::make_shared("mtc_tutorial");
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std::thread spinning_thread([node] { rclcpp::spin(node); });
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auto task = createTask(node);
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try {
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if (task.plan())
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task.introspection().publishSolution(*task.solutions().front());
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} catch (const InitStageException& ex) {
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std::cerr << "planning failed with exception" << std::endl << ex << task;
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}
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// keep alive for interactive inspection in rviz
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spinning_thread.join();
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return 0;
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}
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