robot_model_loader.cpp

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/* Author: Ioan Sucan, E. Gil Jones */

#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/profiler/profiler.h>
#include <ros/ros.h>

robot_model_loader::RobotModelLoader::RobotModelLoader(const std::string &robot_description, bool load_kinematics_solvers)
{
  Options opt(robot_description);
  opt.load_kinematics_solvers_ = load_kinematics_solvers;
  configure(opt);
}

robot_model_loader::RobotModelLoader::RobotModelLoader(const Options &opt)
{
  configure(opt);
}

robot_model_loader::RobotModelLoader::~RobotModelLoader()
{
  model_.reset();
  rdf_loader_.reset();
  kinematics_loader_.reset();
}

namespace
{

bool canSpecifyPosition(const robot_model::JointModel *jmodel, const unsigned int index)
{
  bool ok = false;
  if (jmodel->getType() == robot_model::JointModel::PLANAR && index == 2)
    ROS_ERROR("Cannot specify position limits for orientation of planar joint '%s'", jmodel->getName().c_str());
  else
  if (jmodel->getType() == robot_model::JointModel::FLOATING && index > 2)
    ROS_ERROR("Cannot specify position limits for orientation of floating joint '%s'", jmodel->getName().c_str());
  else
  if (jmodel->getType() == robot_model::JointModel::REVOLUTE &&
      static_cast<const robot_model::RevoluteJointModel*>(jmodel)->isContinuous())
    ROS_ERROR("Cannot specify position limits for continuous joint '%s'", jmodel->getName().c_str());
  else
    ok = true;
  return ok;
}
}

void robot_model_loader::RobotModelLoader::configure(const Options &opt)
{
  moveit::Profiler::ScopedStart prof_start;
  moveit::Profiler::ScopedBlock prof_block("RobotModelLoader::configure");

  ros::WallTime start = ros::WallTime::now();
  if (opt.urdf_doc_ && opt.srdf_doc_)
    rdf_loader_.reset(new rdf_loader::RDFLoader(opt.urdf_doc_, opt.srdf_doc_));
  else
    if (!opt.urdf_string_.empty() && !opt.srdf_string_.empty())
      rdf_loader_.reset(new rdf_loader::RDFLoader(opt.urdf_string_, opt.srdf_string_));
    else
      rdf_loader_.reset(new rdf_loader::RDFLoader(opt.robot_description_));
  if (rdf_loader_->getURDF())
  {
    const boost::shared_ptr<srdf::Model> &srdf = rdf_loader_->getSRDF() ? rdf_loader_->getSRDF() : boost::shared_ptr<srdf::Model>(new srdf::Model());
    model_.reset(new robot_model::RobotModel(rdf_loader_->getURDF(), srdf));
  }

  if (model_ && !rdf_loader_->getRobotDescription().empty())
  {
    moveit::Profiler::ScopedBlock prof_block2("RobotModelLoader::configure joint limits");

    // if there are additional joint limits specified in some .yaml file, read those in
    ros::NodeHandle nh("~");
    std::map<std::string, std::vector<moveit_msgs::JointLimits> > individual_joint_limits_map;

    for (unsigned int i = 0; i < model_->getJointModels().size() ; ++i)
    {
      robot_model::JointModel *jmodel = model_->getJointModels()[i];
      std::vector<moveit_msgs::JointLimits> jlim = jmodel->getVariableLimits();
      for(unsigned int j = 0; j < jlim.size(); ++j)
      {
        std::string prefix = rdf_loader_->getRobotDescription() + "_planning/joint_limits/" + jlim[j].joint_name + "/";

        double max_position;
        if (nh.getParam(prefix + "max_position", max_position))
        {
          if (canSpecifyPosition(jmodel, j))
          {
            jlim[j].has_position_limits = true;
            jlim[j].max_position = max_position;

            // also update the model
            std::pair<double, double> bounds;
            if (jmodel->getVariableBounds(jlim[j].joint_name, bounds))
            {
              bounds.second = max_position;
              jmodel->setVariableBounds(jlim[j].joint_name, bounds);
            }
          }
        }
        double min_position;
        if (nh.getParam(prefix + "min_position", min_position))
        {
          if (canSpecifyPosition(jmodel, j))
          {
            jlim[j].has_position_limits = true;
            jlim[j].min_position = min_position;

            // also update the model
            std::pair<double, double> bounds;
            if (jmodel->getVariableBounds(jlim[j].joint_name, bounds))
            {
              bounds.first = min_position;
              jmodel->setVariableBounds(jlim[j].joint_name, bounds);
            }
          }
        }
        double max_velocity;
        if (nh.getParam(prefix + "max_velocity", max_velocity))
        {
          jlim[j].has_velocity_limits = true;
          jlim[j].max_velocity = max_velocity;
        }
        bool has_vel_limits;
        if (nh.getParam(prefix + "has_velocity_limits", has_vel_limits))
          jlim[j].has_velocity_limits = has_vel_limits;

        double max_acc;
        if (nh.getParam(prefix + "max_acceleration", max_acc))
        {
          jlim[j].has_acceleration_limits = true;
          jlim[j].max_acceleration = max_acc;
        }
        bool has_acc_limits;
        if (nh.getParam(prefix + "has_acceleration_limits", has_acc_limits))
          jlim[j].has_acceleration_limits = has_acc_limits;
      }
      jmodel->setVariableLimits(jlim);
      individual_joint_limits_map[jmodel->getName()] = jlim;
    }
    const std::map<std::string, robot_model::JointModelGroup*> &jmgm = model_->getJointModelGroupMap();
    for (std::map<std::string, robot_model::JointModelGroup*>::const_iterator it = jmgm.begin() ; it != jmgm.end() ; ++it)
    {
      std::vector<moveit_msgs::JointLimits> group_joint_limits;
      for(unsigned int i = 0; i < it->second->getJointModelNames().size(); i++)
      {
        group_joint_limits.insert(group_joint_limits.end(),
                                  individual_joint_limits_map[it->second->getJointModelNames()[i]].begin(),
                                  individual_joint_limits_map[it->second->getJointModelNames()[i]].end());
      }
      it->second->setVariableLimits(group_joint_limits);
    }
  }

  if (model_ && opt.load_kinematics_solvers_)
    loadKinematicsSolvers();

  ROS_DEBUG_STREAM("Loaded kinematic model in " << (ros::WallTime::now() - start).toSec() << " seconds");
}

void robot_model_loader::RobotModelLoader::loadKinematicsSolvers(const kinematics_plugin_loader::KinematicsPluginLoaderPtr &kloader)
{
  moveit::Profiler::ScopedStart prof_start;
  moveit::Profiler::ScopedBlock prof_block("RobotModelLoader::loadKinematicsSolvers");

  if (rdf_loader_ && model_)
  {
    // load the kinematics solvers
    if (kloader)
      kinematics_loader_ = kloader;
    else
      kinematics_loader_.reset(new kinematics_plugin_loader::KinematicsPluginLoader(rdf_loader_->getRobotDescription()));
    robot_model::SolverAllocatorFn kinematics_allocator = kinematics_loader_->getLoaderFunction(rdf_loader_->getSRDF());
    const std::vector<std::string> &groups = kinematics_loader_->getKnownGroups();
    std::stringstream ss;
    std::copy(groups.begin(), groups.end(), std::ostream_iterator<std::string>(ss, " "));
    ROS_DEBUG_STREAM("Loaded information about the following groups: '" << ss.str() << "'");

    std::map<std::string, robot_model::SolverAllocatorFn> imap;
    for (std::size_t i = 0 ; i < groups.size() ; ++i)
    {
      if (!model_->hasJointModelGroup(groups[i]))
        continue;
      const robot_model::JointModelGroup *jmg = model_->getJointModelGroup(groups[i]);
      if (jmg->isChain())
        imap[groups[i]] = kinematics_allocator;
    }
    model_->setKinematicsAllocators(imap);

    // set the default IK timeouts
    const std::map<std::string, double> &timeout = kinematics_loader_->getIKTimeout();
    for (std::map<std::string, double>::const_iterator it = timeout.begin() ; it != timeout.end() ; ++it)
    {
      if (!model_->hasJointModelGroup(it->first))
        continue;
      robot_model::JointModelGroup *jmg = model_->getJointModelGroup(it->first);
      jmg->setDefaultIKTimeout(it->second);
    }

    // set the default IK attempts
    const std::map<std::string, unsigned int> &attempts = kinematics_loader_->getIKAttempts();
    for (std::map<std::string, unsigned int>::const_iterator it = attempts.begin() ; it != attempts.end() ; ++it)
    {
      if (!model_->hasJointModelGroup(it->first))
        continue;
      robot_model::JointModelGroup *jmg = model_->getJointModelGroup(it->first);
      jmg->setDefaultIKAttempts(it->second);
    }
  }
}

std::map<std::string, kinematics::KinematicsBasePtr> robot_model_loader::RobotModelLoader::generateKinematicsSolversMap() const
{
  std::map<std::string, kinematics::KinematicsBasePtr> result;
  if (kinematics_loader_ && model_)
  {
    const std::vector<std::string> &groups = kinematics_loader_->getKnownGroups();
    for (std::size_t i = 0 ; i < groups.size() ; ++i)
    {
      if (!model_->hasJointModelGroup(groups[i]))
        continue;
      const robot_model::JointModelGroup *jmg = model_->getJointModelGroup(groups[i]);
      if (jmg)
      {
        robot_model::SolverAllocatorFn a = jmg->getSolverAllocators().first;
        if (a)
          result[jmg->getName()] = a(jmg);
      }
    }
  }
  else
    ROS_WARN("Kinematic solvers not yet loaded. Call loadKinematicSolvers() first.");
  return result;
}