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Commit b162c39b authored by Sebastian Ebert's avatar Sebastian Ebert
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centralized safety-zone parameterizable by width / height / depth

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CMakeLists.txt
+ 11
− 16
View file @ b162c39b
......@@ -56,27 +56,22 @@ catkin_package(CATKIN_DEPENDS
# Specify additional locations of header files Your package locations should be listed before other locations
include_directories(${catkin_INCLUDE_DIRS})
# add custom controller as library
add_library(${PROJECT_NAME}_controllers_lib src/joint_position_controller.cpp)
#add_library(SafetyEnvironmentCreator src/SafetyEnvironmentCreator.cpp)
# Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}_controllers_lib ${catkin_LIBRARIES})
#target_link_libraries(SafetyEnvironmentCreator ${catkin_LIBRARIES} ${Boost_LIBRARIES})
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(motion_planning_api_tutorial src/motion_planning_api_tutorial.cpp)
add_executable(constraint_planner src/constraint_planner.cpp)
add_executable(constraint_planner src/constraint_planner.cpp src/SafetyEnvironmentCreator.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(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})
target_link_libraries(constraint_planner ${catkin_LIBRARIES})
#target_link_libraries(constraint_planner ${catkin_LIBRARIES} ${Boost_LIBRARIES} SafetyEnvironmentCreator)
#install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
\ No newline at end of file
src/SafetyEnvironmentCreator.cpp 0 → 100644
+ 217
− 0
View file @ b162c39b
//
// Created by Sebastian Ebert
//
#include <moveit/move_group_interface/move_group_interface.h>
#include <moveit_msgs/CollisionObject.h>
#include <moveit_visual_tools/moveit_visual_tools.h>
class SafetyEnvironmentCreator {
private:
double safety_zone_width;
double safety_zone_height;
double safety_zone_depth;
public:
// ctor
SafetyEnvironmentCreator(double zone_width, double zone_height, double zone_depth) {
safety_zone_width = zone_width;
safety_zone_height = zone_height;
safety_zone_depth = zone_depth;
}
double getZoneWidth() {
return safety_zone_width;
}
double getZoneHeight() {
return safety_zone_height;
}
double getZoneDepth() {
return safety_zone_depth;
}
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.
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] = getZoneDepth() + 0.2; // x
primitive.dimensions[1] = 0.1; // y
primitive.dimensions[2] = getZoneHeight(); // z
// 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;
collision_object.primitives.push_back(primitive);
collision_object.primitive_poses.push_back(box_pose);
collision_object.operation = collision_object.ADD;
collision_objects.push_back(collision_object);
// OBJECT 2 right box / +y )
// ^^^^^^^^
moveit_msgs::CollisionObject collision_object_2;
collision_object_2.header.frame_id = move_group.getPlanningFrame();
// The id of the object is used to identify it.
collision_object_2.id = "box2";
// Define a box to add to the world.
shape_msgs::SolidPrimitive primitive_2;
primitive_2.type = primitive.BOX;
primitive_2.dimensions.resize(3);
primitive_2.dimensions[0] = getZoneDepth() + 0.2;
primitive_2.dimensions[1] = 0.1;
primitive_2.dimensions[2] = getZoneHeight();
// 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;
collision_object_2.primitives.push_back(primitive_2);
collision_object_2.primitive_poses.push_back(box_pose_2);
collision_object_2.operation = collision_object_2.ADD;
collision_objects.push_back(collision_object_2);
// OBJECT 3 (front box / +x)
// ^^^^^^^^
moveit_msgs::CollisionObject collision_object_3;
collision_object_3.header.frame_id = move_group.getPlanningFrame();
// The id of the object is used to identify it.
collision_object_3.id = "box3";
// Define a box to add to the world.
shape_msgs::SolidPrimitive primitive_3;
primitive_3.type = primitive.BOX;
primitive_3.dimensions.resize(3);
primitive_3.dimensions[0] = 0.1;
primitive_3.dimensions[1] = getZoneWidth() + 0.2;
primitive_3.dimensions[2] = getZoneHeight();
// 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;
collision_object_3.primitives.push_back(primitive_3);
collision_object_3.primitive_poses.push_back(box_pose_3);
collision_object_3.operation = collision_object_3.ADD;
collision_objects.push_back(collision_object_3);
// OBJECT 4 (back box / -x)
// ^^^^^^^^
moveit_msgs::CollisionObject collision_object_4;
collision_object_4.header.frame_id = move_group.getPlanningFrame();
// The id of the object is used to identify it.
collision_object_4.id = "box4";
// Define a box to add to the world.
shape_msgs::SolidPrimitive primitive_4;
primitive_4.type = primitive.BOX;
primitive_4.dimensions.resize(3);
primitive_4.dimensions[0] = 0.1;
primitive_4.dimensions[1] = getZoneWidth() + 0.2;
primitive_4.dimensions[2] = getZoneHeight();
// 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;
collision_object_4.primitives.push_back(primitive_4);
collision_object_4.primitive_poses.push_back(box_pose_4);
collision_object_4.operation = collision_object_4.ADD;
collision_objects.push_back(collision_object_4);
// OBJECT 5 (floor / -z)
// ^^^^^^^^
moveit_msgs::CollisionObject collision_object_5;
collision_object_5.header.frame_id = move_group.getPlanningFrame();
// The id of the object is used to identify it.
collision_object_5.id = "box5";
// Define a box to add to the world.
shape_msgs::SolidPrimitive primitive_5;
primitive_5.type = primitive.BOX;
primitive_5.dimensions.resize(3);
primitive_5.dimensions[0] = getZoneDepth() + 0.2;
primitive_5.dimensions[1] = getZoneWidth() + 0.2;
primitive_5.dimensions[2] = 0.1;
// 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;
collision_object_5.primitives.push_back(primitive_5);
collision_object_5.primitive_poses.push_back(box_pose_5);
collision_object_5.operation = collision_object_5.ADD;
collision_objects.push_back(collision_object_5);
// OBJECT 5 (floor / -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";
// Define a box to add to the world.
shape_msgs::SolidPrimitive primitive_6;
primitive_6.type = primitive.BOX;
primitive_6.dimensions.resize(3);
primitive_6.dimensions[0] = getZoneDepth() + 0.2;
primitive_6.dimensions[1] = getZoneWidth() + 0.2;
primitive_6.dimensions[2] = 0.1;
// 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;
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);
return collision_objects;
}
};
\ No newline at end of file
src/constraint_planner.cpp
+ 16
− 30
View file @ b162c39b
......@@ -6,9 +6,10 @@
#include <moveit_msgs/AttachedCollisionObject.h>
#include <moveit_msgs/CollisionObject.h>
#include <moveit_visual_tools/moveit_visual_tools.h>
#include "SafetyEnvironmentCreator.cpp"
int main(int argc, char** argv)
{
ros::init(argc, argv, "CONSTRAINT PLANNER");
......@@ -25,8 +26,9 @@ int main(int argc, char** argv)
// Visualization Setup
namespace rvt = rviz_visual_tools;
moveit_visual_tools::MoveItVisualTools visual_tools("panda_link0");
visual_tools.deleteAllMarkers();
//visual_tools.deleteAllMarkers();
visual_tools.loadRemoteControl();
visual_tools.setAlpha(0.5);
Eigen::Isometry3d text_pose = Eigen::Isometry3d::Identity();
text_pose.translation().z() = 1.75;
......@@ -42,37 +44,15 @@ int main(int argc, char** argv)
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);
// Safety Box
SafetyEnvironmentCreator sec(2.0, 2.0 , 2.0);
std::vector<moveit_msgs::CollisionObject> collision_objects = sec.createCentralizedSafetyEnvironment(move_group);
//visual_tools.processCollisionObjectMsg(collision_objects[2], rviz_visual_tools::RED);
// visual_tools.setAlpha(0.0);
// 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
......@@ -89,6 +69,12 @@ int main(int argc, char** argv)
another_pose.position.z = 0.9;
move_group.setPoseTarget(another_pose);
//moveit_msgs::MotionPlanRequest mr;
//mr.max_velocity_scaling_factor = 0.5;
//move_group.constructMotionPlanRequest(mr);
move_group.setMaxVelocityScalingFactor(0.1);
move_group.setWorkspace(-0.5, -0.5, -0.5, 0, 0, 0);
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");
......
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