display_random_state.cpp
Go to the documentation of this file.
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2012, Willow Garage, Inc.
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of the Willow Garage nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 *********************************************************************/
00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
00038 
00039 int main(int argc, char **argv)
00040 {
00041   ros::init(argc, argv, "display_random_state");
00042 
00043   bool valid = false;
00044   bool invalid = false;
00045   for (int i = 0 ; i < argc ; ++i)
00046   {
00047     if (strcmp(argv[i], "--valid") == 0)
00048     {
00049       valid = true;
00050       break;
00051     }
00052     if (strcmp(argv[i], "--invalid") == 0)
00053     {
00054       invalid = true;
00055       break;
00056     }
00057   }
00058 
00059   ros::AsyncSpinner spinner(1);
00060   spinner.start();
00061 
00062   ros::NodeHandle nh;
00063   robot_model_loader::RobotModelLoader::Options opt;
00064   opt.robot_description_ = "robot_description";
00065   robot_model_loader::RobotModelLoaderPtr rml(new robot_model_loader::RobotModelLoader(opt));
00066   planning_scene_monitor::PlanningSceneMonitor psm(rml);
00067   psm.startWorldGeometryMonitor();
00068   psm.startSceneMonitor();
00069   ros::Publisher pub_scene = nh.advertise<moveit_msgs::PlanningScene>("planning_scene", 1);
00070 
00071   ros::Duration(0.5).sleep();
00072 
00073   do
00074   {
00075     if(!psm.getPlanningScene())
00076     {
00077       ROS_ERROR("Planning scene did not load properly, exiting...");
00078       break;
00079     }
00080 
00081     std::cout << "Type a number and hit Enter. That number of ";
00082     if (valid)
00083       std::cout << "valid ";
00084     else
00085       if (invalid)
00086         std::cout << "invalid ";
00087     std::cout << "states will be randomly generated at an interval of one second and published as a planning scene." << std::endl;
00088     std::size_t n;
00089     std::cin >> n;
00090 
00091     for (std::size_t i = 0 ; i < n ; ++i)
00092     {
00093       if (valid)
00094       {
00095         bool found = false;
00096         unsigned int attempts = 0;
00097         do
00098         {
00099           attempts++;
00100           psm.getPlanningScene()->getCurrentStateNonConst().setToRandomValues();
00101           collision_detection::CollisionRequest req;
00102           collision_detection::CollisionResult res;
00103           psm.getPlanningScene()->checkCollision(req, res);
00104           found = !res.collision;
00105         } while (!found && attempts < 100);
00106         if (!found)
00107         {
00108           std::cout << "Unable to find valid state" << std::cout;
00109           continue;
00110         }
00111       }
00112       else
00113         if (invalid)
00114         {
00115           bool found = false;
00116           unsigned int attempts = 0;
00117           do
00118           {
00119             attempts++;
00120             psm.getPlanningScene()->getCurrentStateNonConst().setToRandomValues();
00121             collision_detection::CollisionRequest req;
00122             collision_detection::CollisionResult res;
00123             psm.getPlanningScene()->checkCollision(req, res);
00124             found = res.collision;
00125           } while (!found && attempts < 100);
00126           if (!found)
00127           {
00128             std::cout << "Unable to find invalid state" << std::cout;
00129             continue;
00130           }
00131         }
00132         else
00133           psm.getPlanningScene()->getCurrentStateNonConst().setToRandomValues();
00134 
00135       moveit_msgs::PlanningScene psmsg;
00136       psm.getPlanningScene()->getPlanningSceneMsg(psmsg);
00137       pub_scene.publish(psmsg);
00138       psm.getPlanningScene()->getCurrentState().printStateInfo();
00139 
00140       sleep(1);
00141     }
00142   } while (nh.ok());
00143 
00144   ros::shutdown();
00145   return 0;
00146 }


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Mon Oct 6 2014 02:31:39