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Commit 1ef086ae authored by Sebastian Ebert's avatar Sebastian Ebert
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the safety zone can now be moved, todo: rotation

parent 989d4788
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src/SafetyAwarePlanner.cpp
+ 17
− 14
View file @ 1ef086ae
#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>
......@@ -44,17 +39,26 @@ int main(int argc, char** argv)
std::copy(move_group.getJointModelGroupNames().begin(), move_group.getJointModelGroupNames().end(),
std::ostream_iterator<std::string>(std::cout, ", "));
shape_msgs::SolidPrimitive safetybox;
geometry_msgs::Pose box_pose;
safetybox.type = safetybox.BOX;
safetybox.dimensions.resize(3);
shape_msgs::SolidPrimitive safety_box;
geometry_msgs::Pose safety_box_pose;
safety_box_pose.orientation.w = 1.0;
safety_box_pose.orientation.x = 0.0;
safety_box_pose.orientation.y = 0.0;
safety_box_pose.orientation.z = 0.0;
safety_box_pose.position.x = 0.0;
safety_box_pose.position.y = 0.0;
safety_box_pose.position.z = 0.0;
safety_box.type = safety_box.BOX;
safety_box.dimensions.resize(3);
safetybox.dimensions[0] = 2.0;
safetybox.dimensions[1] = 2.0;
safetybox.dimensions[2] = 2.0;
safety_box.dimensions[0] = 2.0;
safety_box.dimensions[1] = 2.0;
safety_box.dimensions[2] = 2.0;
// Safety Box
SafetyEnvironmentCreator sec(safetybox, box_pose);
SafetyEnvironmentCreator sec(safety_box, safety_box_pose);
std::vector<moveit_msgs::CollisionObject> collision_objects = sec.createCentralizedSafetyEnvironment(move_group);
//visual_tools.processCollisionObjectMsg(collision_objects[2], rviz_visual_tools::RED);
......@@ -94,7 +98,6 @@ int main(int argc, char** argv)
// Move the simulated robot in gazebo
move_group.move();
move_group.stop();
ros::shutdown();
return 0;
......
src/SafetyEnvironmentCreator.cpp
+ 66
− 25
View file @ 1ef086ae
......@@ -12,6 +12,13 @@ class SafetyEnvironmentCreator {
double safety_zone_width;
double safety_zone_height;
double safety_zone_depth;
double zone_orientation_w;
double zone_orientation_x;
double zone_orientation_y;
double zone_orientation_z;
double zone_position_x;
double zone_position_y;
double zone_position_z;
public:
/**
......@@ -26,28 +33,56 @@ class SafetyEnvironmentCreator {
safety_zone_depth = 0.0;
safety_zone_width = 0.0;
safety_zone_height = 0.0;
}else {
zone_orientation_w = 1.0;
zone_orientation_x = 1.0;
zone_orientation_y = 1.0;
zone_orientation_z = 1.0;
}else {
safety_zone_depth = shape.dimensions[0];
safety_zone_width = shape.dimensions[1];
safety_zone_height = shape.dimensions[2];
zone_orientation_w = pose.orientation.w;
zone_orientation_x = pose.orientation.x;
zone_orientation_y = pose.orientation.y;
zone_orientation_z = pose.orientation.z;
zone_position_x = pose.position.x;
zone_position_y = pose.position.y;
zone_position_z = pose.position.z;
}
}
double getZoneWidth() {
double getZoneWidth() const {
return safety_zone_width;
}
double getZoneHeight() {
double getZoneHeight() const {
return safety_zone_height;
}
double getZoneDepth() {
double getZoneDepth() const {
return safety_zone_depth;
}
double getZoneOrientationW() const {
return zone_orientation_w;
}
double getZoneOrientationX() const {
return zone_orientation_x;
}
double getZoneOrientationY() const {
return zone_orientation_y;
}
double getZoneOrientationZ() const {
return zone_orientation_z;
}
std::vector<moveit_msgs::CollisionObject> createCentralizedSafetyEnvironment(moveit::planning_interface::MoveGroupInterface &move_group) {
std::vector<moveit_msgs::CollisionObject> collision_objects;
// OBJECT 1 ( left box / -y )
// ^^^^^^^^
// Define a collision object ROS message.
......@@ -69,9 +104,9 @@ class SafetyEnvironmentCreator {
// 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 = 0.0;
box_pose.position.y = -1 * ((getZoneWidth() / 2) + 0.05);
box_pose.position.z = primitive.dimensions[2] / 2;
box_pose.position.x = zone_position_x;
box_pose.position.y = zone_position_y + (-1 * ((getZoneWidth() / 2) + 0.05));
box_pose.position.z = zone_position_z + (primitive.dimensions[2] / 2);
collision_object.primitives.push_back(primitive);
collision_object.primitive_poses.push_back(box_pose);
......@@ -98,9 +133,9 @@ class SafetyEnvironmentCreator {
// Define a pose for the box (specified relative to frame_id)
geometry_msgs::Pose box_pose_2;
box_pose_2.orientation.w = 1.0;
box_pose_2.position.x = 0.0;
box_pose_2.position.y = ((getZoneWidth() / 2) + 0.05);
box_pose_2.position.z = primitive_2.dimensions[2] / 2;
box_pose_2.position.x = zone_position_x;
box_pose_2.position.y = zone_position_y + ((getZoneWidth() / 2) + 0.05);
box_pose_2.position.z = zone_position_z + (primitive_2.dimensions[2] / 2);
collision_object_2.primitives.push_back(primitive_2);
collision_object_2.primitive_poses.push_back(box_pose_2);
......@@ -127,9 +162,9 @@ class SafetyEnvironmentCreator {
// Define a pose for the box (specified relative to frame_id)
geometry_msgs::Pose box_pose_3;
box_pose_3.orientation.w = 1.0;
box_pose_3.position.x = ((getZoneDepth() / 2) + 0.05);
box_pose_3.position.y = 0.0;
box_pose_3.position.z = primitive_3.dimensions[2] / 2;
box_pose_3.position.x = zone_position_x + ((getZoneDepth() / 2) + 0.05);
box_pose_3.position.y = zone_position_y;
box_pose_3.position.z = zone_position_z + (primitive_3.dimensions[2] / 2);
collision_object_3.primitives.push_back(primitive_3);
collision_object_3.primitive_poses.push_back(box_pose_3);
......@@ -156,9 +191,9 @@ class SafetyEnvironmentCreator {
// Define a pose for the box (specified relative to frame_id)
geometry_msgs::Pose box_pose_4;
box_pose_4.orientation.w = 1.0;
box_pose_4.position.x = -1 * ((getZoneDepth() / 2) + 0.05);
box_pose_4.position.y = 0.0;
box_pose_4.position.z = primitive_4.dimensions[2] / 2;
box_pose_4.position.x = zone_position_x + (-1 * ((getZoneDepth() / 2) + 0.05));
box_pose_4.position.y = zone_position_y;
box_pose_4.position.z = zone_position_z + (primitive_4.dimensions[2] / 2);
collision_object_4.primitives.push_back(primitive_4);
collision_object_4.primitive_poses.push_back(box_pose_4);
......@@ -185,9 +220,9 @@ class SafetyEnvironmentCreator {
// Define a pose for the box (specified relative to frame_id)
geometry_msgs::Pose box_pose_5;
box_pose_5.orientation.w = 1.0;
box_pose_5.position.x = 0.0;
box_pose_5.position.y = 0.0;
box_pose_5.position.z = -0.05;
box_pose_5.position.x = zone_position_x;
box_pose_5.position.y = zone_position_y;
box_pose_5.position.z = zone_position_z - 0.05;
collision_object_5.primitives.push_back(primitive_5);
collision_object_5.primitive_poses.push_back(box_pose_5);
......@@ -195,13 +230,13 @@ class SafetyEnvironmentCreator {
collision_objects.push_back(collision_object_5);
// OBJECT 5 (floor / -z)
// OBJECT 6 (top / +z)
// ^^^^^^^^
moveit_msgs::CollisionObject collision_object_6;
collision_object_6.header.frame_id = move_group.getPlanningFrame();
// The id of the object is used to identify it.
collision_object_6.id = "box5";
collision_object_6.id = "box6";
// Define a box to add to the world.
shape_msgs::SolidPrimitive primitive_6;
......@@ -214,16 +249,22 @@ class SafetyEnvironmentCreator {
// Define a pose for the box (specified relative to frame_id)
geometry_msgs::Pose box_pose_6;
box_pose_6.orientation.w = 1.0;
box_pose_6.position.x = 0.0;
box_pose_6.position.y = 0.0;
box_pose_6.position.z = getZoneHeight() + 0.05;
box_pose_6.position.x = zone_position_x;
box_pose_6.position.y = zone_position_y;
box_pose_6.position.z = zone_position_z + getZoneHeight() + 0.05;
collision_object_6.primitives.push_back(primitive_6);
collision_object_6.primitive_poses.push_back(box_pose_6);
collision_object_6.operation = collision_object_6.ADD;
collision_objects.push_back(collision_object_6);
/*for(std::size_t i=0; i<collision_objects.size(); ++i) {
collision_objects[i].primitive_poses[0].orientation.w = getZoneOrientationW();
collision_objects[i].primitive_poses[0].orientation.x = getZoneOrientationX();
collision_objects[i].primitive_poses[0].orientation.y = getZoneOrientationY();
collision_objects[i].primitive_poses[0].orientation.z = getZoneOrientationZ();
}*/
return collision_objects;
}
};
\ No newline at end of file
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