Initial commit

adapter_package/CMakeLists.txt

+cmake_minimum_required(VERSION 3.0.2)
+project(adapter_package)
+
+## 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 adapter_package
+#  CATKIN_DEPENDS roscpp rospy std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/adapter_package.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+add_executable(adapter_package src/adapter_package.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+set_target_properties(adapter_package PROPERTIES OUTPUT_NAME adapter_package PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(adapter_package ${catkin_LIBRARIES})
\ No newline at end of file

adapter_package/launch/adapter_package.launch

+<launch>
+
+    <!--<include file="$(find panda_simulation)/launch/simulation.launch"/>-->
+    <!--<include file="$(find panda_simulation)/launch/moveit_rviz.launch"/>-->
+
+    <include file="$(find panda_simulation)/launch/simulation.launch"/>
+
+    <node pkg="adapter_package" type="adapter_package" name="adapter_package" respawn="false" output="screen"/>
+
+</launch>
\ No newline at end of file

adapter_package/package.xml

+<package format="3">
+  <name>adapter_package</name>
+  <version>0.0.1</version>
+  <description>The adapter_package package</description>
+  <maintainer email="david.tiede@mailbox.tu-dresden.de">David Tiede</maintainer>
+  <license>TODO</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>roscpp</depend>
+  <depend>std_msgs</depend>
+  <export>
+  </export>
+</package>
\ No newline at end of file

adapter_package/src/adapter_package.cpp

+#include "std_msgs/String.h"
+#include <moveit/move_group_interface/move_group_interface.h>
+
+
+void move_toCallback(const std_msgs::String::ConstPtr& msg)
+{
+    ROS_INFO("ADAPTER PACKAGE: Recevied message: '%s'", msg->data.c_str());
+
+    static const std::string PLANNING_GROUP = "panda_arm";
+    moveit::planning_interface::MoveGroupInterface group(PLANNING_GROUP);
+
+    ros::Duration(3.0).sleep();
+
+    group.setStartStateToCurrentState();
+    group.setPlanningTime(5.0);
+
+    // pose A
+    geometry_msgs::Pose target_pose_1 = group.getCurrentPose().pose;
+    target_pose_1.position.z = 0.4;
+    target_pose_1.position.y = 0.4;
+    target_pose_1.position.x = 0.8;
+    target_pose_1.orientation.x = 0;
+    target_pose_1.orientation.y = 0;
+    target_pose_1.orientation.z = 0;
+    target_pose_1.orientation.w = 1;
+
+    // pose B
+    geometry_msgs::Pose target_pose_2 = group.getCurrentPose().pose;
+    target_pose_2.position.z = 0.4;
+    target_pose_2.position.y = 0.4;
+    target_pose_2.position.x = 0.8;
+    target_pose_2.orientation.x = 0;
+    target_pose_2.orientation.y = 0;
+    target_pose_2.orientation.z = 0;
+    target_pose_2.orientation.w = 1;
+
+    std::vector<geometry_msgs::Pose> waypoints;
+    std::string strA ("A");
+    std::string strB ("B");
+    if (strA == msg->data) {
+        waypoints.push_back(target_pose_1);
+    } else if (strB == msg->data) {
+        waypoints.push_back(target_pose_2);
+    } else {
+        ROS_WARN("ADAPTER PACKAGE: Wrong message.");
+        return;
+    }
+
+    moveit::planning_interface::MoveGroupInterface::Plan plan;
+    moveit_msgs::RobotTrajectory trajectory_msg;
+    group.computeCartesianPath(waypoints, 0.01, 0.0, trajectory_msg, true);
+    plan.trajectory_ = trajectory_msg;
+    group.execute(plan);
+    ROS_INFO("ADAPTER PACKAGE: Finished movement.");
+
+}
+
+
+int main(int argc, char** argv)
+{
+    ros::init(argc, argv, "adapter_package");
+    ros::NodeHandle node_handle;
+    ros::AsyncSpinner spinner(2);
+
+    spinner.start();
+
+    ros::Subscriber sub = node_handle.subscribe("move_to", 1000, move_toCallback);
+    ROS_INFO("ADAPTER PACKAGE: Listening to 'move_to'.");
+
+    ros::waitForShutdown();
+
+    return 0;
+}

safety_planning_request_adapters/CMakeLists.txt

+cmake_minimum_required(VERSION 3.0.2)
+project(safety_planning_request_adapters)
+
+find_package(catkin REQUIRED COMPONENTS
+        roscpp
+        std_msgs
+        moveit_ros_planning
+        trajectory_msgs)
+
+catkin_package(
+        LIBRARIES ${PROJECT_NAME}
+        CATKIN_DEPENDS moveit_ros_planning trajectory_msgs
+)
+
+include_directories(${catkin_INCLUDE_DIRS})
+
+add_library(${PROJECT_NAME} src/add_safety.cpp)
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
+
+
+install(TARGETS ${PROJECT_NAME}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+
+install(DIRECTORY include/${PROJECT_NAME}/
+        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+
+install(FILES planning_request_adapters_plugin_description.xml
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
\ No newline at end of file

safety_planning_request_adapters/package.xml

+<package format="3">
+  <name>safety_planning_request_adapters</name>
+  <version>0.0.1</version>
+  <description>The safety_planning_request_adapters package</description>
+  <maintainer email="david.tiede@mailbox.tu-dresden.de">David Tiede</maintainer>
+  <license>TODO</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>moveit_ros_planning</depend>
+  <depend>roscpp</depend>
+  <depend>std_msgs</depend>
+  <depend>trajectory_msgs</depend>
+  <export>
+    <moveit_core plugin="${prefix}/planning_request_adapters_plugin_description.xml"/>
+  </export>
+</package>
\ No newline at end of file

safety_planning_request_adapters/planning_request_adapters_plugin_description.xml

+<library path="libsafety_planning_request_adapters">
+
+  <class name="safety_planning_request_adapters/AddSafety"
+         type="safety_planning_request_adapters::AddSafety"
+         base_class_type="planning_request_adapter::PlanningRequestAdapter">
+    <description>
+    </description>
+  </class>
+
+</library>

safety_planning_request_adapters/src/add_safety.cpp

+#include <moveit/planning_request_adapter/planning_request_adapter.h>
+#include <class_loader/class_loader.hpp>
+#include <ros/console.h>
+
+namespace safety_planning_request_adapters
+{
+class AddSafety : public planning_request_adapter::PlanningRequestAdapter
+{
+    int VELOCITY_LIMIT = 3;
+
+public:
+
+  std::string getDescription() const override
+  {
+    return "Add Safety";
+  }
+
+  bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
+                    const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
+                    std::vector<std::size_t>& added_path_index) const override
+  {
+      ROS_ERROR("ADAPTER PACKAGE: ADAPTER LOADED");
+
+      bool result = planner(planning_scene, req, res);
+      if (result && res.trajectory_) // Only run after planning
+      {
+//          ROS_DEBUG("Running '%s'", getDescription().c_str());
+//          if (!time_param_.computeTimeStamps(*res.trajectory_, req.max_velocity_scaling_factor,
+//                                             req.max_acceleration_scaling_factor))
+//          {
+//              ROS_ERROR("Time parametrization for the solution path failed.");
+//              result = false;
+//          }
+      }
+
+      return result;
+  }
+};
+}  // namespace safety_planning_request_adapters
+
+CLASS_LOADER_REGISTER_CLASS(safety_planning_request_adapters::AddSafety, planning_request_adapter::PlanningRequestAdapter);