arm_navigation_tests: path_constraints

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00035  *  \author Sachin Chitta, Ioan Sucan
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00037 
00038 #include <ros/ros.h>
00039 #include <tf/tf.h>
00040 #include <gtest/gtest.h>
00041 #include <boost/thread.hpp>
00042 #include <kinematics_msgs/GetPositionFK.h>
00043 #include <motion_planning_msgs/GetMotionPlan.h>
00044 #include <planning_environment_msgs/GetRobotState.h>
00045 
00046 #include <actionlib/client/simple_action_client.h>
00047 #include <move_arm_msgs/MoveArmAction.h>
00048 #include <geometric_shapes_msgs/Shape.h>
00049 
00050 #include <arm_navigation_tests/arm_navigation_utils.h>
00051 
00052 void spinThread()
00053 {
00054   ros::spin();
00055 }
00056 
00057 TEST(OMPL, PathConstraintsTest)
00058 {
00059   ros::NodeHandle nh;
00060   ros::NodeHandle private_handle("~");
00061   boost::thread spin_thread(&spinThread);
00062 
00063   actionlib::SimpleActionClient<move_arm_msgs::MoveArmAction> move_arm(nh, "move_right_arm");
00064   move_arm.waitForServer();
00065   ROS_INFO("Connected to server");
00066 
00067   arm_navigation_utils::ArmNavigationUtils arm_nav_utils;
00068   EXPECT_TRUE(arm_nav_utils.takeStaticMap());
00069 
00070   move_arm_msgs::MoveArmGoal goalA;
00071   goalA.motion_plan_request.group_name = "right_arm";
00072   goalA.motion_plan_request.num_planning_attempts = 1;
00073   private_handle.param<std::string>("planner_id",goalA.motion_plan_request.planner_id,std::string(""));
00074   private_handle.param<std::string>("planner_service_name",goalA.planner_service_name,std::string("/ompl_planning/plan_kinematic_path"));
00075   goalA.motion_plan_request.allowed_planning_time = ros::Duration(5.0);
00076     
00077   goalA.motion_plan_request.goal_constraints.position_constraints.resize(1);
00078   goalA.motion_plan_request.goal_constraints.position_constraints[0].header.stamp = ros::Time::now();
00079   goalA.motion_plan_request.goal_constraints.position_constraints[0].header.frame_id = "torso_lift_link";
00080     
00081   goalA.motion_plan_request.goal_constraints.position_constraints[0].link_name = "r_wrist_roll_link";
00082   goalA.motion_plan_request.goal_constraints.position_constraints[0].position.x = 0.75;
00083   goalA.motion_plan_request.goal_constraints.position_constraints[0].position.y = -0.188;
00084   goalA.motion_plan_request.goal_constraints.position_constraints[0].position.z = 0;
00085     
00086   goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.type = geometric_shapes_msgs::Shape::BOX;
00087   goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.dimensions.push_back(0.02);
00088   goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.dimensions.push_back(0.02);
00089   goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.dimensions.push_back(0.02);
00090 
00091   goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_orientation.w = 1.0;
00092   goalA.motion_plan_request.goal_constraints.position_constraints[0].weight = 1.0;
00093 
00094   goalA.motion_plan_request.goal_constraints.orientation_constraints.resize(1);
00095   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].header.stamp = ros::Time::now();
00096   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].header.frame_id = "torso_lift_link";    
00097   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].link_name = "r_wrist_roll_link";
00098   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.x = 0.0;
00099   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.y = 0.0;
00100   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.z = 0.0;
00101   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.w = 1.0;
00102     
00103   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].absolute_roll_tolerance = 0.04;
00104   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].absolute_pitch_tolerance = 0.04;
00105   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].absolute_yaw_tolerance = 0.04;
00106 
00107   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].weight = 1.0;
00108   goalA.disable_ik = true;
00109   int num_test_attempts = 0;
00110   int max_attempts = 5;
00111   bool success = false;
00112   while (nh.ok())
00113   {
00114     bool finished_within_time = false;
00115     move_arm.sendGoal(goalA);
00116     finished_within_time = move_arm.waitForResult(ros::Duration(100.0));
00117     actionlib::SimpleClientGoalState state = move_arm.getState();
00118     success = (state == actionlib::SimpleClientGoalState::SUCCEEDED);
00119     if ((!finished_within_time || !success) && num_test_attempts < max_attempts)
00120     {
00121       move_arm.cancelGoal();
00122       ROS_INFO("Timed out achieving goal A, trying again. Trying again, attempt: %d",num_test_attempts);
00123       num_test_attempts++;
00124     }
00125     else
00126     {
00127       if(!success)
00128       {
00129         ROS_INFO("Action finished: %s",state.toString().c_str());
00130         move_arm.cancelGoal();
00131       }
00132       ROS_INFO("Action finished: %s",state.toString().c_str());
00133       break;
00134     }
00135   }
00136 
00137 
00138 
00139   ROS_INFO("Connected to server");
00140   ros::service::waitForService("ompl_planning/plan_kinematic_path");
00141   ros::service::waitForService("pr2_right_arm_kinematics/get_fk");
00142   ros::service::waitForService("environment_server/get_robot_state");
00143 
00144   ros::ServiceClient get_motion_plan_client_ = nh.serviceClient<motion_planning_msgs::GetMotionPlan>("ompl_planning/plan_kinematic_path");
00145   
00146   motion_planning_msgs::GetMotionPlan::Request  request;
00147   motion_planning_msgs::GetMotionPlan::Response response;
00148 
00149   ros::ServiceClient get_state_client_ = nh.serviceClient<planning_environment_msgs::GetRobotState>("environment_server/get_robot_state");      
00150   planning_environment_msgs::GetRobotState::Request request_state;
00151   planning_environment_msgs::GetRobotState::Response response_state;
00152   if(get_state_client_.call(request_state,response_state))
00153   {
00154     request.motion_plan_request.start_state = response_state.robot_state;
00155     request.motion_plan_request.start_state.joint_state.header.frame_id = "base_footprint";
00156   }
00157   else
00158   {
00159     ROS_ERROR("Service call to get robot state failed on %s",get_state_client_.getService().c_str());
00160   }
00161 
00162   std::vector<std::string> names(7);
00163   names[0] = "r_shoulder_pan_joint";
00164   names[1] = "r_shoulder_lift_joint";
00165   names[2] = "r_upper_arm_roll_joint";
00166   names[3] = "r_elbow_flex_joint";
00167   names[4] = "r_forearm_roll_joint";
00168   names[5] = "r_wrist_flex_joint";
00169   names[6] = "r_wrist_roll_joint";
00170 
00171   request.motion_plan_request.group_name = "right_arm";
00172   request.motion_plan_request.num_planning_attempts = 1;
00173   request.motion_plan_request.allowed_planning_time = ros::Duration(5.0);
00174   request.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp = ros::Time::now();
00175 
00176   private_handle.param<std::string>("planner_id",request.motion_plan_request.planner_id,std::string(""));    
00177   request.motion_plan_request.goal_constraints.joint_constraints.resize(names.size());
00178 
00179   for (unsigned int i = 0 ; i < request.motion_plan_request.goal_constraints.joint_constraints.size(); ++i)
00180   {
00181     request.motion_plan_request.goal_constraints.joint_constraints[i].joint_name = names[i];
00182     request.motion_plan_request.goal_constraints.joint_constraints[i].position = 0.0;
00183     request.motion_plan_request.goal_constraints.joint_constraints[i].tolerance_below = 0.1;
00184     request.motion_plan_request.goal_constraints.joint_constraints[i].tolerance_above = 0.1;
00185   }
00186     
00187   request.motion_plan_request.goal_constraints.joint_constraints[0].position = -2.0;
00188   request.motion_plan_request.goal_constraints.joint_constraints[3].position = -0.2;
00189   request.motion_plan_request.goal_constraints.joint_constraints[5].position = -0.2;
00190 
00191   request.motion_plan_request.path_constraints.orientation_constraints.resize(1);
00192   request.motion_plan_request.path_constraints.orientation_constraints[0].header.frame_id = "torso_lift_link";
00193   request.motion_plan_request.path_constraints.orientation_constraints[0].header.stamp = ros::Time::now();
00194   request.motion_plan_request.path_constraints.orientation_constraints[0].link_name = "r_wrist_roll_link";
00195    
00196   request.motion_plan_request.path_constraints.orientation_constraints[0].orientation.x = -0.167;
00197   request.motion_plan_request.path_constraints.orientation_constraints[0].orientation.y = -0.107;
00198   request.motion_plan_request.path_constraints.orientation_constraints[0].orientation.z = -0.825;
00199   request.motion_plan_request.path_constraints.orientation_constraints[0].orientation.w = 0.530;
00200 
00201   request.motion_plan_request.path_constraints.orientation_constraints[0].type = motion_planning_msgs::OrientationConstraint::HEADER_FRAME;
00202   request.motion_plan_request.path_constraints.orientation_constraints[0].absolute_roll_tolerance = 0.5;
00203   request.motion_plan_request.path_constraints.orientation_constraints[0].absolute_pitch_tolerance = 0.5;
00204   request.motion_plan_request.path_constraints.orientation_constraints[0].absolute_yaw_tolerance = M_PI;
00205 
00206   EXPECT_TRUE(get_motion_plan_client_.call(request,response));
00207   EXPECT_TRUE(!response.trajectory.joint_trajectory.points.empty());
00208   ROS_INFO("Output path has %d points",(int) response.trajectory.joint_trajectory.points.size());
00209   ros::ServiceClient fk_client = nh.serviceClient<kinematics_msgs::GetPositionFK>("pr2_right_arm_kinematics/get_fk");
00210 
00211   kinematics_msgs::GetPositionFK::Request  fk_request;
00212   kinematics_msgs::GetPositionFK::Response fk_response;
00213   fk_request.header.frame_id = "base_link";
00214   fk_request.fk_link_names.resize(1);
00215   fk_request.fk_link_names[0] = "r_wrist_roll_link";
00216   fk_request.robot_state.joint_state.position.resize(names.size());
00217   fk_request.robot_state.joint_state.name = names;
00218 
00219   btQuaternion constraint_orientation_quaternion;
00220   tf::quaternionMsgToTF(request.motion_plan_request.path_constraints.orientation_constraints[0].orientation,constraint_orientation_quaternion);
00221   btMatrix3x3 constraint_orientation = btMatrix3x3(constraint_orientation_quaternion);
00222   
00223 
00224   // Now, check the returned trajectory to make sure it satisfies the constraints
00225   for(unsigned int i=0; i < response.trajectory.joint_trajectory.points.size(); i++)
00226   {
00227     fk_request.robot_state.joint_state.position = response.trajectory.joint_trajectory.points[i].positions;
00228     EXPECT_TRUE(fk_client.call(fk_request, fk_response));
00229 
00230     btQuaternion actual_orientation_quaternion;
00231     tf::quaternionMsgToTF(fk_response.pose_stamped[0].pose.orientation,actual_orientation_quaternion);
00232     btMatrix3x3 actual_orientation = btMatrix3x3(actual_orientation_quaternion);
00233     btMatrix3x3 result = actual_orientation * constraint_orientation.inverse();
00234 
00235     double roll, pitch, yaw;
00236     result.getRPY(roll, pitch, yaw);
00237 
00238     EXPECT_TRUE(abs(roll) < request.motion_plan_request.path_constraints.orientation_constraints[0].absolute_roll_tolerance);
00239     EXPECT_TRUE(abs(pitch) < request.motion_plan_request.path_constraints.orientation_constraints[0].absolute_pitch_tolerance);
00240     EXPECT_TRUE(abs(yaw) < request.motion_plan_request.path_constraints.orientation_constraints[0].absolute_yaw_tolerance);
00241 
00242   }
00243   ros::shutdown();
00244   spin_thread.join();
00245 }
00246 
00247 int main(int argc, char **argv){
00248   testing::InitGoogleTest(&argc, argv);
00249   ros::init(argc,argv,"path_constraints_test");
00250   return RUN_ALL_TESTS();
00251 }