moveit_task_constructor/core/src/utils.cpp
Robert Haschke 177e19de1f Generalize utils::getRobotTipForFrame()
... to return error_msg instead of calling markAsFailure() on a solution
2024-06-29 17:55:45 +02:00

103 lines
3.9 KiB
C++

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/* Authors: Michael Goerner, Robert Haschke */
#include <tf2_eigen/tf2_eigen.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/task_constructor/properties.h>
#include <moveit/task_constructor/storage.h>
namespace moveit {
namespace task_constructor {
namespace utils {
bool getRobotTipForFrame(const Property& property, const planning_scene::PlanningScene& scene,
const moveit::core::JointModelGroup* jmg, std::string& error_msg,
const moveit::core::LinkModel*& robot_link, Eigen::Isometry3d& tip_in_global_frame) {
auto get_tip = [&jmg]() -> const moveit::core::LinkModel* {
// determine IK frame from group
std::vector<const moveit::core::LinkModel*> tips;
jmg->getEndEffectorTips(tips);
if (tips.size() != 1) {
return nullptr;
}
return tips[0];
};
error_msg = "";
if (property.value().empty()) { // property undefined
robot_link = get_tip();
if (!robot_link) {
error_msg = "missing ik_frame";
return false;
}
tip_in_global_frame = scene.getCurrentState().getGlobalLinkTransform(robot_link);
} else {
auto ik_pose_msg = boost::any_cast<geometry_msgs::PoseStamped>(property.value());
tf2::fromMsg(ik_pose_msg.pose, tip_in_global_frame);
robot_link = nullptr;
bool found = false;
auto ref_frame = scene.getCurrentState().getFrameInfo(ik_pose_msg.header.frame_id, robot_link, found);
if (!found && !ik_pose_msg.header.frame_id.empty()) {
std::stringstream ss;
ss << "ik_frame specified in unknown frame '" << ik_pose_msg.header.frame_id << "'";
error_msg = ss.str();
return false;
}
if (!robot_link)
robot_link = get_tip();
if (!robot_link) {
error_msg = "ik_frame doesn't specify a link frame";
return false;
} else if (!found) { // use robot link's frame as reference by default
ref_frame = scene.getCurrentState().getGlobalLinkTransform(robot_link);
}
tip_in_global_frame = ref_frame * tip_in_global_frame;
}
return true;
}
} // namespace utils
} // namespace task_constructor
} // namespace moveit