collision_proximity: collision_proximity: collision_proximity

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00034 
00037 #include <ros/ros.h>
00038 #include <planning_environment/monitors/planning_monitor.h>
00039 #include <collision_proximity/collision_proximity_space.h>
00040 #include <arm_navigation_msgs/GetPlanningScene.h>
00041 #include <arm_navigation_msgs/GetRobotState.h>
00042 #include <planning_environment/models/model_utils.h>
00043 
00044 static const std::string planning_scene_name = "/environment_server/get_planning_scene";      
00045 static const std::string robot_state_name = "/environment_server/get_robot_state";      
00046 
00047 int main(int argc, char** argv)
00048 {
00049   ros::init(argc, argv, "collision_proximity_test");
00050  
00051   ros::NodeHandle nh;
00052   
00053   std::string robot_description_name = nh.resolveName("robot_description", true);
00054 
00055   ros::WallTime n1 = ros::WallTime::now();
00056   collision_proximity::CollisionProximitySpace* cps = new collision_proximity::CollisionProximitySpace(robot_description_name);
00057   ros::WallTime n2 = ros::WallTime::now();
00058 
00059   ROS_INFO_STREAM("Creation took " << (n2-n1).toSec());
00060 
00061   ros::ServiceClient planning_scene_client = nh.serviceClient<arm_navigation_msgs::GetPlanningScene>(planning_scene_name, true);      
00062   ros::service::waitForService(planning_scene_name);
00063 
00064   ros::ServiceClient robot_state_service = nh.serviceClient<arm_navigation_msgs::GetRobotState>(robot_state_name, true);      
00065   ros::service::waitForService(robot_state_name);
00066 
00067   arm_navigation_msgs::GetRobotState::Request rob_state_req;
00068   arm_navigation_msgs::GetRobotState::Response rob_state_res;
00069 
00070   arm_navigation_msgs::GetPlanningScene::Request req;
00071   arm_navigation_msgs::GetPlanningScene::Response res;
00072 
00073   arm_navigation_msgs::CollisionObject obj1;
00074   obj1.header.stamp = ros::Time::now();
00075   obj1.header.frame_id = "odom_combined";
00076   obj1.id = "obj1";
00077   obj1.operation.operation = arm_navigation_msgs::CollisionObjectOperation::ADD;
00078   obj1.shapes.resize(1);
00079   obj1.shapes[0].type = arm_navigation_msgs::Shape::BOX;
00080   obj1.shapes[0].dimensions.resize(3);
00081   obj1.shapes[0].dimensions[0] = .1;
00082   obj1.shapes[0].dimensions[1] = .1;
00083   obj1.shapes[0].dimensions[2] = .75;
00084   obj1.poses.resize(1);
00085   obj1.poses[0].position.x = .6;
00086   obj1.poses[0].position.y = -.6;
00087   obj1.poses[0].position.z = .375;
00088   obj1.poses[0].orientation.w = 1.0;
00089 
00090   arm_navigation_msgs::AttachedCollisionObject att_obj;
00091   att_obj.object = obj1;
00092   att_obj.object.header.stamp = ros::Time::now();
00093   att_obj.object.header.frame_id = "r_gripper_palm_link";
00094   att_obj.link_name = "r_gripper_palm_link";
00095   att_obj.touch_links.push_back("r_gripper_palm_link");
00096   att_obj.touch_links.push_back("r_gripper_r_finger_link");
00097   att_obj.touch_links.push_back("r_gripper_l_finger_link");
00098   att_obj.touch_links.push_back("r_gripper_r_finger_tip_link");
00099   att_obj.touch_links.push_back("r_gripper_l_finger_tip_link");
00100   att_obj.touch_links.push_back("r_wrist_roll_link");
00101   att_obj.touch_links.push_back("r_wrist_flex_link");
00102   att_obj.touch_links.push_back("r_forearm_link");
00103   att_obj.touch_links.push_back("r_gripper_motor_accelerometer_link");
00104   att_obj.object.id = "obj2";
00105   att_obj.object.shapes[0].type = arm_navigation_msgs::Shape::CYLINDER;
00106   att_obj.object.shapes[0].dimensions.resize(2);
00107   att_obj.object.shapes[0].dimensions[0] = .025;
00108   att_obj.object.shapes[0].dimensions[1] = .5;
00109   att_obj.object.poses.resize(1);
00110   att_obj.object.poses[0].position.x = .12;
00111   att_obj.object.poses[0].position.y = 0.0;
00112   att_obj.object.poses[0].position.z = 0.0;
00113   att_obj.object.poses[0].orientation.w = 1.0;
00114 
00115   req.collision_object_diffs.push_back(obj1);
00116   req.attached_collision_object_diffs.push_back(att_obj);
00117 
00118   n1 = ros::WallTime::now();
00119   planning_scene_client.call(req,res);
00120   n2 = ros::WallTime::now();
00121 
00122   ROS_INFO_STREAM("Service call took " << (n2-n1).toSec());
00123   
00124   n1 = ros::WallTime::now();
00125   planning_models::KinematicState* state = cps->setupForGroupQueries("right_arm",
00126                                                                      res.complete_robot_state,
00127                                                                      res.allowed_collision_matrix,
00128                                                                      res.transformed_allowed_contacts,
00129                                                                      res.all_link_padding,
00130                                                                      res.all_collision_objects,
00131                                                                      res.all_attached_collision_objects,
00132                                                                      res.unmasked_collision_map);
00133   n2 = ros::WallTime::now();
00134   ROS_INFO_STREAM("Setup took "  << (n2-n1).toSec());
00135 
00136   ros::Rate r(10.0);
00137   std::vector<double> link_distances;
00138   std::vector<std::vector<double> > distances;
00139   std::vector<std::vector<btVector3> > gradients;
00140   std::vector<std::string> link_names;
00141   std::vector<std::string> attached_body_names;
00142   std::vector<collision_proximity::CollisionType> collisions;
00143 
00144   cps->visualizeDistanceField();
00145   
00146   while(nh.ok()) {
00147     
00148     n1 = ros::WallTime::now();
00149     robot_state_service.call(rob_state_req,rob_state_res);
00150     n2 = ros::WallTime::now();
00151     //ROS_INFO_STREAM("Get state req took " << (n2-n1).toSec());
00152 
00153     planning_environment::setRobotStateAndComputeTransforms(rob_state_res.robot_state, *state);
00154 
00155     cps->setCurrentGroupState(*state);
00156     bool in_collision; 
00157     cps->getStateCollisions(link_names, attached_body_names, in_collision, collisions);
00158     cps->visualizeCollisions(link_names, attached_body_names, collisions);
00159     cps->getStateGradients(link_names, attached_body_names, link_distances, distances, gradients);
00160     cps->visualizeProximityGradients(link_names, attached_body_names, link_distances, distances, gradients);
00161     std::vector<std::string> objs = link_names;
00162     objs.insert(objs.end(), attached_body_names.begin(), attached_body_names.end());
00163     cps->visualizeObjectSpheres(objs);
00164     //std::vector<std::string> all_links = cps->->getGroupLinkUnion();
00165     //cps->visualizeObjectVoxels(all_links);
00166     //cps->visualizeConvexMeshes(link_names);
00167     //cps->visualizePaddedTrimeshes(cur_state, link_names);
00168     ros::spinOnce();
00169     r.sleep();
00170   }
00171 
00172   ros::shutdown();
00173   delete cps;
00174 
00175 }
collision_proximity_test.cpp
