BasicJointSpacePlanner.cpp

#include <moveit/move_group_interface/move_group_interface.h>
#include <moveit/planning_scene_interface/planning_scene_interface.h>

#include <moveit_msgs/CollisionObject.h>

#include <moveit_visual_tools/moveit_visual_tools.h>
#include <moveit/trajectory_processing/iterative_time_parameterization.h>
#include <trajectory_msgs/JointTrajectoryPoint.h>

/**
 * simple demo of a robotic motion
 */
int main(int argc, char **argv) {
    // init the node
    ros::init(argc, argv, "basic_joint_space_planner");
    ros::NodeHandle node_handle;
    ros::AsyncSpinner spinner(1);
    spinner.start();

    // setup the planning environment
    static const std::string PLANNING_GROUP = "panda_arm";
    moveit::planning_interface::MoveGroupInterface move_group(PLANNING_GROUP);
    moveit::planning_interface::PlanningSceneInterface planning_scene_interface;

    // visualization setup
    // MoveIts visual tools provide capabilities for visualizing objects, robots, and trajectories in RViz
    namespace rvt = rviz_visual_tools;
    moveit_visual_tools::MoveItVisualTools visual_tools("panda_link0");

    // Batch publishing is used to reduce the number of messages being sent to RViz for large visualizations
    visual_tools.enableBatchPublishing();

    // remote control is an introspection tool that allows users to step through a high level script
    // via buttons and keyboard shortcuts in RViz
    visual_tools.loadRemoteControl();
    ros::Duration(3.0).sleep();

    // we can use visual_tools to wait for user input
    visual_tools.prompt("Press 'next' to plan the motion. \n");
    visual_tools.trigger();

    // getting basic information
    ROS_INFO("Planning frame: %s", move_group.getPlanningFrame().c_str());
    ROS_INFO("End effector link: %s", move_group.getEndEffectorLink().c_str());
    ROS_INFO("Available Planning Groups:");
    std::copy(move_group.getJointModelGroupNames().begin(), move_group.getJointModelGroupNames().end(),
              std::ostream_iterator<std::string>(std::cout, ", "));

    move_group.setStartStateToCurrentState();

    // define start and target pose (by specifying the desired pose of the end-effector)
    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);

    // uncomment to modify maximum velocity and acceleration of the motion to be planned
    /*

    move_group.setMaxVelocityScalingFactor(0.1);
    move_group.setMaxAccelerationScalingFactor(0.1);

     */

    // create a plan object and plan the motion
    moveit::planning_interface::MoveGroupInterface::Plan my_plan;
    bool success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
    ROS_INFO("Visualizing plan %s", success ? "" : "FAILED");

    visual_tools.trigger();
    visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to continue the demo");

    // Move the (simulated) robot in gazebo
    move_group.move();

    ros::shutdown();
    return 0;
}