planning_scene_ros_api.cpp

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* Author: Sachin Chitta
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#include <ros/ros.h>
#include <geometry_msgs/Pose.h>

// MoveIt!
#include <moveit_msgs/PlanningScene.h>
#include <moveit_msgs/AttachedCollisionObject.h>
#include <moveit_msgs/GetStateValidity.h>
#include <moveit_msgs/DisplayRobotState.h>

#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/robot_state/conversions.h>


int main(int argc, char **argv)
{
  ros::init (argc, argv, "planning_scene_ros_api_tutorial");
  ros::AsyncSpinner spinner(1);
  spinner.start();

  ros::NodeHandle node_handle;

  /* ATTACH AN OBJECT*/
  /* First advertise and wait for a connection*/
  ros::Publisher attached_object_publisher = node_handle.advertise<moveit_msgs::AttachedCollisionObject>("attached_collision_object", 1);
  while(attached_object_publisher.getNumSubscribers() < 1)
  {
    ros::WallDuration sleep_t(0.5);
    sleep_t.sleep();
  }

  /* Define the attached object message*/
  moveit_msgs::AttachedCollisionObject attached_object;
  attached_object.link_name = "r_wrist_roll_link";
  /* The header must contain a valid TF frame*/
  attached_object.object.header.frame_id = "r_wrist_roll_link";
  /* The id of the object */
  attached_object.object.id = "box";

  /* A default pose */
  geometry_msgs::Pose pose;
  pose.orientation.w = 1.0;

  /* Define a box to be attached */
  shape_msgs::SolidPrimitive primitive;
  primitive.type = primitive.BOX;
  primitive.dimensions.resize(3);
  primitive.dimensions[0] = 0.1;
  primitive.dimensions[1] = 0.1;
  primitive.dimensions[2] = 0.1;

  attached_object.object.primitives.push_back(primitive);
  attached_object.object.primitive_poses.push_back(pose);

  /* An attach operation requires an ADD */
  attached_object.object.operation = attached_object.object.ADD;

  /* Publish and sleep (to view the visualized results)*/
  attached_object_publisher.publish(attached_object);
  ros::WallDuration sleep_time(10.0);
  sleep_time.sleep();

  /* DETACH THE OBJECT*/
  /* Note that the object will now be added back into the collision world.*/
  moveit_msgs::AttachedCollisionObject detach_object;
  detach_object.object.id = "box";
  detach_object.link_name = "r_wrist_roll_link";
  detach_object.object.operation = attached_object.object.REMOVE;
  ROS_INFO("Detaching the object");
  attached_object_publisher.publish(detach_object);
  sleep_time.sleep();


  /* REMOVE OBJECT FROM COLLISION WORLD*/
  /* Advertise the collision object message publisher*/
  ros::Publisher collision_object_publisher = node_handle.advertise<moveit_msgs::CollisionObject>("collision_object", 1);
  while(collision_object_publisher.getNumSubscribers() < 1)
  {
    ros::WallDuration sleep_t(0.5);
    sleep_t.sleep();
  }
  /* Define the message and publish the operation*/
  moveit_msgs::CollisionObject remove_object;
  remove_object.id = "box";
  remove_object.header.frame_id = "odom_combined";
  remove_object.operation = remove_object.REMOVE;
  ROS_INFO("Removing the object");
  collision_object_publisher.publish(remove_object);
  sleep_time.sleep();

  /* USE THE PLANNING SCENE MESSAGE FOR THE SAME SET OF OPERATIONS*/
  /* Advertise the planning scene message publisher*/
  ros::Publisher planning_scene_diff_publisher = node_handle.advertise<moveit_msgs::PlanningScene>("planning_scene", 1);
  while(planning_scene_diff_publisher.getNumSubscribers() < 1)
  {
    ros::WallDuration sleep_t(0.5);
    sleep_t.sleep();
  }

  /* PUT THE OBJECT IN THE ENVIRONMENT*/
  ROS_INFO("Putting the object back into the environment");
  moveit_msgs::PlanningScene planning_scene;
  planning_scene.world.collision_objects.push_back(attached_object.object);
  planning_scene.is_diff = true;
  planning_scene_diff_publisher.publish(planning_scene);
  sleep_time.sleep();

  /* ATTACH THE OBJECT */
  ROS_INFO("Attaching the object and removing it from the collision world");
  planning_scene.world.collision_objects.clear();
  planning_scene.world.collision_objects.push_back(remove_object);
  planning_scene.robot_state.attached_collision_objects.push_back(attached_object);
  planning_scene_diff_publisher.publish(planning_scene);

  sleep_time.sleep();

  /* DETACH THE OBJECT */
  ROS_INFO("Detaching the object and returning it to the collision world");
  planning_scene.robot_state.attached_collision_objects.clear();
  planning_scene.robot_state.attached_collision_objects.push_back(detach_object);
  planning_scene.world.collision_objects.clear();
  planning_scene.world.collision_objects.push_back(attached_object.object);
  planning_scene_diff_publisher.publish(planning_scene);

  sleep_time.sleep();

  /* REMOVE THE OBJECT FROM THE COLLISION WORLD */
  ROS_INFO("Removing the object again");
  planning_scene.robot_state.attached_collision_objects.clear();
  planning_scene.world.collision_objects.clear();
  planning_scene.world.collision_objects.push_back(remove_object);
  planning_scene_diff_publisher.publish(planning_scene);

  ros::shutdown();
  return 0;
}