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Matteo Anedda
multi_cell_builder
Commits
45366ecd
Commit
45366ecd
authored
1 year ago
by
KingMaZito
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parent
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1 changed file
src/mediator/mg_mediator.cpp
+39
-5
39 additions, 5 deletions
src/mediator/mg_mediator.cpp
with
39 additions
and
5 deletions
src/mediator/mg_mediator.cpp
+
39
−
5
View file @
45366ecd
...
...
@@ -11,35 +11,50 @@ void MGMediator::mergeACM(){
moveit_msgs
::
PlanningScene
::
_allowed_collision_matrix_type
acmt
;
acmt
.
entry_values
.
resize
(
acm_
.
size
());
ROS_INFO
(
"mergeACM step 1"
);
int
i
=
0
;
for
(
auto
&
a
:
acm_
){
acmt
.
entry_names
.
push_back
(
a
.
first
);
acmt
.
entry_values
[
i
].
enabled
=
a
.
second
;
i
++
;
}
ROS_INFO
(
"mergeACM step 2"
);
ps_
->
allowed_collision_matrix
=
acmt
;
ROS_INFO
(
"mergeACM step 3"
);
}
void
MGMediator
::
parallelExec
(
moveit_task_constructor_msgs
::
SubTrajectory
st
,
const
std
::
string
&
robotId
){
{
ROS_INFO
(
"parallelExec step 1"
);
std
::
unique_lock
<
std
::
mutex
>
lock
(
shared_mutex
);
manipulateACM
(
st
.
scene_diff
,
robotId
);
mergePS
(
st
.
scene_diff
,
robotId
);
ROS_INFO
(
"parallelExec step 2"
);
}
AbstractRobotDecorator
*
mr
=
nullptr
;
{
std
::
unique_lock
<
std
::
mutex
>
lock
(
shared_mutex
);
mr
=
robots_
.
at
(
robotId
).
get
();
ROS_INFO
(
"parallelExec step 3"
);
}
mr
->
mgi
()
->
execute
(
st
.
trajectory
);
ROS_INFO
(
"parallelExec step 4"
);
}
void
MGMediator
::
mergePS
(
const
moveit_msgs
::
PlanningScene
&
in
,
const
std
::
string
&
robotId
){
// get full mr link list
ROS_INFO
(
"mergePS step 1"
);
if
(
!
ps_
){
ps_
=
std
::
make_shared
<
moveit_msgs
::
PlanningScene
>
(
in
);
ROS_INFO
(
"mergePS step 2"
);
return
;
}
...
...
@@ -48,6 +63,7 @@ void MGMediator::mergePS(const moveit_msgs::PlanningScene& in, const std::string
std
::
unique_lock
<
std
::
mutex
>
lock
(
shared_mutex
);
mr
=
robots_
.
at
(
robotId
).
get
();
}
ROS_INFO
(
"mergePS step 3"
);
for
(
auto
ao
:
in
.
robot_state
.
attached_collision_objects
)
ps_
->
robot_state
.
attached_collision_objects
.
push_back
(
ao
);
ps_
->
robot_state
.
is_diff
|=
in
.
robot_state
.
is_diff
;
...
...
@@ -55,6 +71,7 @@ void MGMediator::mergePS(const moveit_msgs::PlanningScene& in, const std::string
ps_
->
robot_state
.
joint_state
.
header
=
in
.
robot_state
.
joint_state
.
header
;
ps_
->
robot_model_name
=
"panda"
;
ROS_INFO
(
"mergePS step 4"
);
std
::
vector
<
std
::
string
>
links
;
for
(
auto
link
:
mr
->
mgi
()
->
getLinkNames
())
links
.
push_back
(
link
);
links
.
push_back
(
mr
->
map
()[
"left_finger"
]);
...
...
@@ -62,6 +79,7 @@ void MGMediator::mergePS(const moveit_msgs::PlanningScene& in, const std::string
links
.
push_back
(
mr
->
map
()[
"hand_link"
]);
links
.
push_back
(
mr
->
map
()[
"base"
]);
ROS_INFO
(
"mergePS step 5"
);
for
(
auto
link
:
links
)
{
for
(
int
i
=
0
;
i
<
in
.
robot_state
.
joint_state
.
name
.
size
();
i
++
){
if
(
link
==
in
.
robot_state
.
joint_state
.
name
[
i
]){
...
...
@@ -70,6 +88,7 @@ void MGMediator::mergePS(const moveit_msgs::PlanningScene& in, const std::string
ps_
->
robot_state
.
joint_state
.
velocity
.
push_back
(
in
.
robot_state
.
joint_state
.
velocity
[
i
]);
}
}
ROS_INFO
(
"mergePS step 6"
);
for
(
int
i
=
0
;
i
<
in
.
link_padding
.
size
();
i
++
){
if
(
link
==
in
.
link_padding
[
i
].
link_name
){
...
...
@@ -77,24 +96,30 @@ void MGMediator::mergePS(const moveit_msgs::PlanningScene& in, const std::string
}
}
ROS_INFO
(
"mergePS step 7"
);
for
(
int
i
=
0
;
i
<
in
.
link_scale
.
size
();
i
++
){
if
(
link
==
in
.
link_scale
[
i
].
link_name
){
ps_
->
link_scale
.
push_back
(
in
.
link_scale
[
i
]);
}
}
}
ROS_INFO
(
"mergePS step 8"
);
}
void
MGMediator
::
processSharedStructure
()
{
while
(
ros
::
ok
())
{
std
::
vector
<
std
::
pair
<
std
::
string
,
moveit_task_constructor_msgs
::
SubTrajectory
>>
peak
;
ROS_INFO
(
"processSharedStructure step 1"
);
{
std
::
unique_lock
<
std
::
mutex
>
lock
(
shared_mutex
);
// Wait until the shared structure is not empty
cv
.
wait
(
lock
,
[]{
return
!
shared_structure
.
empty
();
});
ROS_INFO
(
"processSharedStructure step 2"
);
// Iterate over the vectors in shared_structure
for
(
auto
it
=
shared_structure
.
begin
();
it
!=
shared_structure
.
end
();
++
it
)
{
...
...
@@ -102,6 +127,7 @@ void MGMediator::processSharedStructure() {
// Get the first entry of the vector and add it to peak
peak
.
push_back
(
std
::
make_pair
(
it
->
first
,
it
->
second
.
solution
.
sub_trajectory
.
front
()));
it
->
second
.
solution
.
sub_trajectory
.
erase
(
it
->
second
.
solution
.
sub_trajectory
.
begin
());
ROS_INFO
(
"processSharedStructure step 3"
);
}
if
(
it
->
second
.
solution
.
sub_trajectory
.
empty
())
{
...
...
@@ -110,7 +136,7 @@ void MGMediator::processSharedStructure() {
But I want to publish only vanished objects
TODO: Implement your own stage, so you don't have to do this embarrassing loops
*/
ROS_INFO
(
"processSharedStructure step 4"
);
std
::
string
temp
;
try
{
for
(
const
auto
&
c
:
cuboid_reader_
->
cuboidBox
()){
...
...
@@ -143,18 +169,25 @@ void MGMediator::processSharedStructure() {
}
ROS_INFO
(
"processSharedStructure step 5"
);
std
::
vector
<
std
::
thread
>
th
;
for
(
const
auto
&
exec
:
peak
){
th
.
push_back
(
std
::
thread
(
&
MGMediator
::
parallelExec
,
this
,
exec
.
second
,
std
::
ref
(
exec
.
first
)));
}
ROS_INFO
(
"processSharedStructure step 6"
);
for
(
auto
&
t
:
th
){
t
.
join
();
}
ROS_INFO
(
"processSharedStructure step 7"
);
mergeACM
();
planning_scene_diff_publisher_
->
publish
(
*
ps_
);
ROS_INFO
(
"processSharedStructure step 8"
);
planning_scene_diff_publisher_
->
publish
(
ps_
.
get
());
// The lock is automatically released here when `lock` goes out of scope
...
...
@@ -166,7 +199,7 @@ void MGMediator::processSharedStructure() {
// }
// }
ROS_INFO
(
"
Do something
"
);
ROS_INFO
(
"
processSharedStructure step 9
"
);
peak
.
clear
();
...
...
@@ -333,7 +366,8 @@ void MGMediator::mediate(){
// //mgt.introspection().publishSolution(*mgt.solutions().front());
// mgt1.execute(*mgt1.solutions().front());
// }
// Setup shared ACM
for
(
auto
&
a
:
acm_
)
a
.
second
.
resize
(
acm_
.
size
(),
0
);
std
::
thread
processThread
(
&
MGMediator
::
processSharedStructure
,
this
);
// Spin ROS node
...
...
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