added node for constraint path planning (box-based)

CMakeLists.txt

@@ -59,15 +59,24 @@ include_directories(${catkin_INCLUDE_DIRS})
 add_executable(robot_control_node src/robot_control_node.cpp)
 add_executable(box_publisher_node src/box_publisher.cpp)
 add_executable(robot_state_initializer_node src/robot_state_initializer.cpp)
-add_executable(move_group_interface_tutorial src/move_group_interface_tutorial.cpp)
+#add_executable(move_group_interface_tutorial src/move_group_interface_tutorial.cpp)
+#add_executable(motion_planning_api_tutorial src/motion_planning_api_tutorial.cpp)
+add_executable(constraint_planner src/constraint_planner.cpp)
 
 target_link_libraries(robot_control_node ${catkin_LIBRARIES} boost_filesystem ${JSONCPP_LIBRARIES})
 target_link_libraries(box_publisher_node ${catkin_LIBRARIES})
 target_link_libraries(robot_state_initializer_node ${catkin_LIBRARIES})
-target_link_libraries(move_group_interface_tutorial ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+#target_link_libraries(move_group_interface_tutorial ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+#target_link_libraries(motion_planning_api_tutorial ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(constraint_planner ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 # add custom controller as library
 add_library(${PROJECT_NAME}_controllers_lib src/joint_position_controller.cpp)
 
 # Specify libraries to link a library or executable target against
 target_link_libraries(${PROJECT_NAME}_controllers_lib ${catkin_LIBRARIES})
+
+#install(TARGETS move_group_interface_tutorial DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+#install(TARGETS motion_planning_api_tutorial DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
+#install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
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launch/simulation.launch

@@ -27,7 +27,6 @@
     <!-- Load joint controller configurations from YAML file to parameter server -->
     <rosparam file="$(find panda_simulation)/config/panda_control.yaml" command="load" />
 
-
     <!-- load the controllers -->
     <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller panda_arm_controller" />
     <node if="$(arg load_gripper)" name="controller_spawner_hand" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="panda_hand_controller" />
@@ -58,4 +57,14 @@
     <!-- run custom node for automatic intialization -->
     <node pkg="panda_simulation" type="robot_state_initializer_node" name="robot_state_initializer_node" />
 
+    <!--<node name="move_group_interface_tutorial" pkg="panda_simulation" type="move_group_interface_tutorial" respawn="false" output="screen"/>-->
+
+    <node name="constraint_planner" pkg="panda_simulation" type="constraint_planner" respawn="false" output="screen"/>
+
+    <!--<node name="motion_planning_api_tutorial" pkg="panda_simulation" type="motion_planning_api_tutorial" respawn="false" output="screen">
+        <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
+        <param name="/planning_plugin" value="ompl_interface/OMPLPlanner"/>
+        <rosparam command="load" file="$(find panda_moveit_config)/config/ompl_planning.yaml"/>
+    </node>-->
+
 </launch>

src/constraint_planner.cpp

+#include <moveit/move_group_interface/move_group_interface.h>
+#include <moveit/planning_scene_interface/planning_scene_interface.h>
+
+#include <moveit_msgs/DisplayRobotState.h>
+#include <moveit_msgs/DisplayTrajectory.h>
+
+#include <moveit_msgs/AttachedCollisionObject.h>
+#include <moveit_msgs/CollisionObject.h>
+
+#include <moveit_visual_tools/moveit_visual_tools.h>
+
+int main(int argc, char** argv)
+{
+    ros::init(argc, argv, "CONSTRAINT PLANNER");
+    ros::NodeHandle node_handle;
+    ros::AsyncSpinner spinner(1);
+    spinner.start();
+
+    static const std::string PLANNING_GROUP = "panda_arm";
+    moveit::planning_interface::MoveGroupInterface move_group(PLANNING_GROUP);
+    moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
+    const robot_state::JointModelGroup* joint_model_group =
+            move_group.getCurrentState()->getJointModelGroup(PLANNING_GROUP);
+
+    // Visualization Setup
+    namespace rvt = rviz_visual_tools;
+    moveit_visual_tools::MoveItVisualTools visual_tools("panda_link0");
+    visual_tools.deleteAllMarkers();
+    visual_tools.loadRemoteControl();
+
+    Eigen::Isometry3d text_pose = Eigen::Isometry3d::Identity();
+    text_pose.translation().z() = 1.75;
+    visual_tools.publishText(text_pose, "Sample constraint planner node", rvt::WHITE, rvt::XLARGE);
+
+    // Batch publishing is used to reduce the number of messages being sent to RViz for large visualizations
+    visual_tools.trigger();
+
+    // Getting Basic Information
+    ROS_INFO_NAMED("constraint_planner", "Planning frame: %s", move_group.getPlanningFrame().c_str());
+    ROS_INFO_NAMED("constraint_planner", "End effector link: %s", move_group.getEndEffectorLink().c_str());
+    ROS_INFO_NAMED("constraint_planner", "Available Planning Groups:");
+    std::copy(move_group.getJointModelGroupNames().begin(), move_group.getJointModelGroupNames().end(),
+              std::ostream_iterator<std::string>(std::cout, ", "));
+
+    // Define a collision object ROS message.
+    moveit_msgs::CollisionObject collision_object;
+    collision_object.header.frame_id = move_group.getPlanningFrame();
+
+    // The id of the object is used to identify it.
+    collision_object.id = "box1";
+
+    // Define a box to add to the world.
+    shape_msgs::SolidPrimitive primitive;
+    primitive.type = primitive.BOX;
+    primitive.dimensions.resize(3);
+    primitive.dimensions[0] = 0.4;
+    primitive.dimensions[1] = 0.1;
+    primitive.dimensions[2] = 0.4;
+
+    // Define a pose for the box (specified relative to frame_id)
+    geometry_msgs::Pose box_pose;
+    box_pose.orientation.w = 1.0;
+    box_pose.position.x = 0.4;
+    box_pose.position.y = -0.2;
+    box_pose.position.z = 1.0;
+
+    collision_object.primitives.push_back(primitive);
+    collision_object.primitive_poses.push_back(box_pose);
+    collision_object.operation = collision_object.ADD;
+
+    std::vector<moveit_msgs::CollisionObject> collision_objects;
+    collision_objects.push_back(collision_object);
+
+    // Now, let's add the collision object into the world
+    ROS_INFO_NAMED("tutorial", "Add an object into the world");
+    planning_scene_interface.addCollisionObjects(collision_objects);
+
+    // Show text in RViz of status
+    visual_tools.publishText(text_pose, "Add object", rvt::WHITE, rvt::XLARGE);
+    visual_tools.trigger();
+    visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to once the collision object appears in RViz");
+
+    // Now when we plan a trajectory it will avoid the obstacle
+    move_group.setStartState(*move_group.getCurrentState());
+    geometry_msgs::Pose another_pose;
+    another_pose.orientation.w = 1.0;
+    another_pose.position.x = 0.4;
+    another_pose.position.y = -0.4;
+    another_pose.position.z = 0.9;
+    move_group.setPoseTarget(another_pose);
+
+    moveit::planning_interface::MoveGroupInterface::Plan my_plan;
+    bool success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
+    ROS_INFO_NAMED("constraint_planner", "Visualizing constraint plan %s", success ? "" : "FAILED");
+
+    visual_tools.prompt("Press 'next' to move the simulated robot.");
+    visual_tools.trigger();
+
+    // Move the simulated robot in gazebo
+    move_group.move();
+
+    ros::shutdown();
+    return 0;
+}
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