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pick_place.cpp
pick_place.cpp 6.93 KiB
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/* Author: Ioan Sucan */
#include <moveit/pick_place/pick_place.h>
#include <moveit/robot_state/conversions.h>
#include <moveit_msgs/DisplayTrajectory.h>
#include <visualization_msgs/MarkerArray.h>
#include <ros/console.h>
namespace pick_place
{
const std::string PickPlace::DISPLAY_PATH_TOPIC = planning_pipeline::PlanningPipeline::DISPLAY_PATH_TOPIC;
const std::string PickPlace::DISPLAY_GRASP_TOPIC = "display_grasp_markers";
const double PickPlace::DEFAULT_GRASP_POSTURE_COMPLETION_DURATION = 7.0; // seconds
// functionality specific to pick-only is in pick.cpp;
// functionality specific to place-only is in place.cpp;
PickPlacePlanBase::PickPlacePlanBase(const PickPlaceConstPtr& pick_place, const std::string& name)
: pick_place_(pick_place), pipeline_(name, 4), last_plan_time_(0.0), done_(false)
{
pipeline_.setSolutionCallback(boost::bind(&PickPlacePlanBase::foundSolution, this));
pipeline_.setEmptyQueueCallback(boost::bind(&PickPlacePlanBase::emptyQueue, this));
}
PickPlacePlanBase::~PickPlacePlanBase() = default;
void PickPlacePlanBase::foundSolution()
{
boost::mutex::scoped_lock slock(done_mutex_);
done_ = true;
done_condition_.notify_all();
}
void PickPlacePlanBase::emptyQueue()
{
boost::mutex::scoped_lock slock(done_mutex_);
if (pushed_all_poses_)
{
done_ = true;
done_condition_.notify_all();
}
}
void PickPlacePlanBase::initialize()
{
done_ = false;
pushed_all_poses_ = false;
}
void PickPlacePlanBase::waitForPipeline(const ros::WallTime& endtime)
{
// wait till we're done
boost::unique_lock<boost::mutex> lock(done_mutex_);
pushed_all_poses_ = true;
while (!done_ && endtime > ros::WallTime::now())
done_condition_.timed_wait(lock, (endtime - ros::WallTime::now()).toBoost());
}
PickPlace::PickPlace(const planning_pipeline::PlanningPipelinePtr& planning_pipeline)
: nh_("~"), planning_pipeline_(planning_pipeline), display_computed_motion_plans_(false), display_grasps_(false)
{
constraint_sampler_manager_loader_.reset(new constraint_sampler_manager_loader::ConstraintSamplerManagerLoader());
}
void PickPlace::displayProcessedGrasps(bool flag)
{
if (display_grasps_ && !flag)
grasps_publisher_.shutdown();
else if (!display_grasps_ && flag)
grasps_publisher_ = nh_.advertise<visualization_msgs::MarkerArray>(DISPLAY_GRASP_TOPIC, 10, true);
display_grasps_ = flag;
}
void PickPlace::displayComputedMotionPlans(bool flag)
{
if (display_computed_motion_plans_ && !flag)
display_path_publisher_.shutdown();
else if (!display_computed_motion_plans_ && flag)
display_path_publisher_ = nh_.advertise<moveit_msgs::DisplayTrajectory>(DISPLAY_PATH_TOPIC, 10, true);
display_computed_motion_plans_ = flag;
}
void PickPlace::visualizePlan(const ManipulationPlanPtr& plan) const
{
moveit_msgs::DisplayTrajectory dtraj;
dtraj.model_id = getRobotModel()->getName();
bool first = true;
for (std::size_t i = 0; i < plan->trajectories_.size(); ++i)
{
if (!plan->trajectories_[i].trajectory_ || plan->trajectories_[i].trajectory_->empty())
continue;
if (first)
{
robot_state::robotStateToRobotStateMsg(plan->trajectories_[i].trajectory_->getFirstWayPoint(),
dtraj.trajectory_start);
first = false;
}
dtraj.trajectory.resize(dtraj.trajectory.size() + 1);
plan->trajectories_[i].trajectory_->getRobotTrajectoryMsg(dtraj.trajectory.back());
}
display_path_publisher_.publish(dtraj);
}
void PickPlace::visualizeGrasp(const ManipulationPlanPtr& plan) const
{
visualizeGrasps(std::vector<ManipulationPlanPtr>(1, plan));
}
namespace
{
std::vector<std_msgs::ColorRGBA> setupDefaultGraspColors()
{
std::vector<std_msgs::ColorRGBA> result;
result.resize(6);
result[0].r = 0.5f;
result[0].g = 0.5f;
result[0].b = 0.5f;
result[0].a = 1.0f;
result[1].r = 1.0f;
result[1].g = 0.0f;
result[1].b = 0.0f;
result[1].a = 1.0f;
result[2].r = 1.0f;
result[2].g = 0.5f;
result[2].b = 0.0f;
result[2].a = 1.0f;
result[3].r = 0.0f;
result[3].g = 1.0f;
result[3].b = 1.0f;
result[3].a = 1.0f;
result[4].r = 0.0f;
result[4].g = 1.0f;
result[4].b = 0.0f;
result[4].a = 1.0f;
result[5].r = 1.0f;
result[5].g = 0.0f;
result[5].b = 1.0f;
result[5].a = 0.75f;
return result;
}
} // namespace
void PickPlace::visualizeGrasps(const std::vector<ManipulationPlanPtr>& plans) const
{
if (plans.empty())
return;
robot_state::RobotState state(getRobotModel());
state.setToDefaultValues();
static std::vector<std_msgs::ColorRGBA> colors(setupDefaultGraspColors());
visualization_msgs::MarkerArray ma;
for (std::size_t i = 0; i < plans.size(); ++i)
{
const robot_model::JointModelGroup* jmg = plans[i]->shared_data_->end_effector_group_;
if (jmg)
{
unsigned int type = std::min(plans[i]->processing_stage_, colors.size() - 1);
state.updateStateWithLinkAt(plans[i]->shared_data_->ik_link_, plans[i]->transformed_goal_pose_);
state.getRobotMarkers(ma, jmg->getLinkModelNames(), colors[type],
"moveit_grasps:stage_" + boost::lexical_cast<std::string>(plans[i]->processing_stage_),
ros::Duration(60));
}
}
grasps_publisher_.publish(ma);
}
} // namespace pick_place