diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..f8b01502d50d539bc04a3c2ec4c95eed6eb3700f --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,204 @@ +cmake_minimum_required(VERSION 3.0.2) +project(planning_util) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + std_msgs + moveit_ros_planning_interface +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( + INCLUDE_DIRS include + LIBRARIES trajectory_tool +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +add_library(trajectory_tool + src/TrajectoryTool.cpp +) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +add_dependencies(trajectory_tool ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/planning_util_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +target_link_libraries(trajectory_tool + ${catkin_LIBRARIES} +) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_planning_util.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/include/TrajectoryTool.h b/include/TrajectoryTool.h new file mode 100644 index 0000000000000000000000000000000000000000..53e16ef0562e7e381a605b03b48bfd9bc0dc0c8c --- /dev/null +++ b/include/TrajectoryTool.h @@ -0,0 +1,19 @@ +// +// Created by sebastian on 06.07.21. +// + +#ifndef SRC_TRAJECTORYTOOL_H +#define SRC_TRAJECTORYTOOL_H + +#include <moveit/move_group_interface/move_group_interface.h> +#include <moveit/planning_scene_interface/planning_scene_interface.h> + +class TrajectoryTool { + +public: + static moveit::planning_interface::MoveGroupInterface::Plan + invert_plan(moveit::planning_interface::MoveGroupInterface::Plan &original_plan, + moveit::planning_interface::MoveGroupInterface &move_group, std::string group); + +}; +#endif //SRC_TRAJECTORYTOOL_H diff --git a/package.xml b/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..3023103bd0e4ec192dadb43098c17a7d8ccf3167 --- /dev/null +++ b/package.xml @@ -0,0 +1,68 @@ +<?xml version="1.0"?> +<package format="2"> + <name>planning_util</name> + <version>0.0.0</version> + <description>The planning_util package</description> + + <!-- One maintainer tag required, multiple allowed, one person per tag --> + <!-- Example: --> + <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> --> + <maintainer email="sebastian.ebert@tu-dresden.de">Sebastian Ebert</maintainer> + <maintainer email="johannes.mey@tu-dresden.de">Johannes Mey</maintainer> + + + <!-- One license tag required, multiple allowed, one license per tag --> + <!-- Commonly used license strings: --> + <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 --> + <license>BSD</license> + + <url type="website">http://ceti.pages.st.inf.tu-dresden.de/robotics/pkgs/planning_util.html</url> + <url type="repository">https://git-st.inf.tu-dresden.de/ceti/ros/planning_util</url> + + <!-- Url tags are optional, but multiple are allowed, one per tag --> + <!-- Optional attribute type can be: website, bugtracker, or repository --> + <!-- Example: --> + <!-- <url type="website">http://wiki.ros.org/planning_util</url> --> + + + <!-- Author tags are optional, multiple are allowed, one per tag --> + <!-- Authors do not have to be maintainers, but could be --> + <!-- Example: --> + <!-- <author email="jane.doe@example.com">Jane Doe</author> --> + + + <!-- The *depend tags are used to specify dependencies --> + <!-- Dependencies can be catkin packages or system dependencies --> + <!-- Examples: --> + <!-- Use depend as a shortcut for packages that are both build and exec dependencies --> + <!-- <depend>roscpp</depend> --> + <!-- Note that this is equivalent to the following: --> + <!-- <build_depend>roscpp</build_depend> --> + <!-- <exec_depend>roscpp</exec_depend> --> + <!-- Use build_depend for packages you need at compile time: --> + <!-- <build_depend>message_generation</build_depend> --> + <!-- Use build_export_depend for packages you need in order to build against this package: --> + <!-- <build_export_depend>message_generation</build_export_depend> --> + <!-- Use buildtool_depend for build tool packages: --> + <!-- <buildtool_depend>catkin</buildtool_depend> --> + <!-- Use exec_depend for packages you need at runtime: --> + <!-- <exec_depend>message_runtime</exec_depend> --> + <!-- Use test_depend for packages you need only for testing: --> + <!-- <test_depend>gtest</test_depend> --> + <!-- Use doc_depend for packages you need only for building documentation: --> + <!-- <doc_depend>doxygen</doc_depend> --> + <buildtool_depend>catkin</buildtool_depend> + <build_depend>roscpp</build_depend> + <build_depend>std_msgs</build_depend> + <build_export_depend>roscpp</build_export_depend> + <build_export_depend>std_msgs</build_export_depend> + <exec_depend>roscpp</exec_depend> + <exec_depend>std_msgs</exec_depend> + + + <!-- The export tag contains other, unspecified, tags --> + <export> + <!-- Other tools can request additional information be placed here --> + + </export> +</package> diff --git a/src/TrajectoryTool.cpp b/src/TrajectoryTool.cpp new file mode 100644 index 0000000000000000000000000000000000000000..22a389561be655e6eba629624894e5268393956c --- /dev/null +++ b/src/TrajectoryTool.cpp @@ -0,0 +1,49 @@ +// +// Created by sebastian on 06.07.21. +// + +#include "TrajectoryTool.h" + +#include <moveit/trajectory_processing/iterative_time_parameterization.h> +#include <moveit/robot_state/conversions.h> +#include <moveit/robot_model_loader/robot_model_loader.h> + +moveit::planning_interface::MoveGroupInterface::Plan +TrajectoryTool::invert_plan(moveit::planning_interface::MoveGroupInterface::Plan &original_plan, + moveit::planning_interface::MoveGroupInterface &move_group, std::string group){ + + robot_model::RobotModelPtr _robot_model; + robot_model_loader::RobotModelLoader robot_model_loader("robot_description"); + _robot_model = robot_model_loader.getModel(); + + moveit::planning_interface::MoveGroupInterface::Plan inverted_plan; + + inverted_plan.trajectory_.joint_trajectory.header.stamp = ros::Time::now(); + inverted_plan.trajectory_.joint_trajectory.header.frame_id = original_plan.trajectory_.joint_trajectory.header.frame_id; + inverted_plan.trajectory_.joint_trajectory.joint_names = original_plan.trajectory_.joint_trajectory.joint_names; + + int j = original_plan.trajectory_.joint_trajectory.points.size() - 1; + + trajectory_processing::IterativeParabolicTimeParameterization time_param; + + robot_trajectory::RobotTrajectory inverted_trajectory(_robot_model, group); + + robot_state::RobotState robot_state(_robot_model); + + // new start point (current state) + moveit::core::RobotStatePtr current_robot_state = move_group.getCurrentState(1.0); + inverted_trajectory.insertWayPoint(0, current_robot_state, 0.1); + + for(size_t i = 0; i < original_plan.trajectory_.joint_trajectory.points.size() && j >= 0; i++){ + moveit::core::jointTrajPointToRobotState(original_plan.trajectory_.joint_trajectory, j, robot_state); + inverted_trajectory.insertWayPoint(i+1, robot_state, 0.1); + j--; + } + + if(!time_param.computeTimeStamps(inverted_trajectory)){ + ROS_ERROR("Time parametrization failed."); + } + + inverted_trajectory.getRobotTrajectoryMsg(inverted_plan.trajectory_); + return inverted_plan; +} \ No newline at end of file