moveit_fake_controller_manager.cpp

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/* Author: Ioan Sucan */

#include <ros/ros.h>
#include <moveit/controller_manager/controller_manager.h>
#include <sensor_msgs/JointState.h>
#include <pluginlib/class_list_macros.h>
#include <map>

namespace moveit_fake_controller_manager
{

class FakeControllerHandle : public moveit_controller_manager::MoveItControllerHandle
{
public:
  FakeControllerHandle(const std::string &name, ros::NodeHandle &nh, const std::vector<std::string> &joints) :
    moveit_controller_manager::MoveItControllerHandle(name),
    nh_(nh),
    joints_(joints)
  {
    std::stringstream ss;
    ss << "Fake controller '" << name << "' with joints [ ";
    for (std::size_t i = 0 ; i < joints.size() ; ++i)
      ss << joints[i] << " ";
    ss << "]";
    ROS_INFO("%s", ss.str().c_str());
    pub_ = nh_.advertise<sensor_msgs::JointState>("fake_controller_joint_states", 100, false);
  }
  
  void getJoints(std::vector<std::string> &joints) const
  {
    joints = joints_;
  }
  
  virtual bool sendTrajectory(const moveit_msgs::RobotTrajectory &t)
  {
    ROS_INFO("Fake execution of trajectory");
    if (!t.joint_trajectory.points.empty())
    {
      sensor_msgs::JointState js;
      js.header = t.joint_trajectory.header;
      js.name = t.joint_trajectory.joint_names;
      js.position = t.joint_trajectory.points.back().positions;
      js.velocity = t.joint_trajectory.points.back().velocities;
      js.effort = t.joint_trajectory.points.back().effort;
      pub_.publish(js);
    }
    
    return true;
  }
  
  virtual bool cancelExecution()
  {   
    ROS_INFO("Fake trajectory execution cancel");
    return true;
  }
  
  virtual bool waitForExecution(const ros::Duration &)
  {
    sleep(1);
    return true;
  }
  
  virtual moveit_controller_manager::ExecutionStatus getLastExecutionStatus()
  {
    return moveit_controller_manager::ExecutionStatus(moveit_controller_manager::ExecutionStatus::SUCCEEDED);
  }
  
private:
  ros::NodeHandle nh_;
  std::vector<std::string> joints_;
  ros::Publisher pub_;
};


class MoveItFakeControllerManager : public moveit_controller_manager::MoveItControllerManager
{
public:

  MoveItFakeControllerManager() : node_handle_("~")
  {
    if (!node_handle_.hasParam("controller_list"))
    {
      ROS_ERROR_STREAM("MoveItFakeControllerManager: No controller_list specified.");
      return;
    }
    
    XmlRpc::XmlRpcValue controller_list;
    node_handle_.getParam("controller_list", controller_list);
    if (controller_list.getType() != XmlRpc::XmlRpcValue::TypeArray)
    {
      ROS_ERROR("MoveItFakeControllerManager: controller_list should be specified as an array");
      return;
    }
    
    /* actually create each controller */
    for (int i = 0 ; i < controller_list.size() ; ++i)
    {
      if (!controller_list[i].hasMember("name") || !controller_list[i].hasMember("joints"))
      {
        ROS_ERROR("MoveItFakeControllerManager: Name and joints must be specifed for each controller");
        continue;
      }
      
      try
      {
        std::string name = std::string(controller_list[i]["name"]);
        
        if (controller_list[i]["joints"].getType() != XmlRpc::XmlRpcValue::TypeArray)
        {
          ROS_ERROR_STREAM("MoveItFakeControllerManager: The list of joints for controller " << name << " is not specified as an array");
          continue;
        }
        std::vector<std::string> joints;
        for (int j = 0 ; j < controller_list[i]["joints"].size() ; ++j)
          joints.push_back(std::string(controller_list[i]["joints"][j]));

        controllers_[name].reset(new FakeControllerHandle(name, node_handle_, joints));
      }
      catch (...)
      {
        ROS_ERROR("MoveItFakeControllerManager: Unable to parse controller information");
      }
    }
  }
  
  virtual ~MoveItFakeControllerManager()
  {
  }

  /*
   * Get a controller, by controller name (which was specified in the controllers.yaml
   */
  virtual moveit_controller_manager::MoveItControllerHandlePtr getControllerHandle(const std::string &name)
  {
    std::map<std::string, moveit_controller_manager::MoveItControllerHandlePtr>::const_iterator it = controllers_.find(name);
    if (it != controllers_.end())
      return it->second;
    else
      ROS_FATAL_STREAM("No such controller: " << name);
    return moveit_controller_manager::MoveItControllerHandlePtr();
  }

  /*
   * Get the list of controller names.
   */
  virtual void getControllersList(std::vector<std::string> &names)
  {
    for (std::map<std::string, moveit_controller_manager::MoveItControllerHandlePtr>::const_iterator it = controllers_.begin() ; it != controllers_.end() ; ++it)
      names.push_back(it->first);
    ROS_INFO_STREAM("Returned " << names.size() << " controllers in list");
  }

  /*
   * This plugin assumes that all controllers are already active -- and if they are not, well, it has no way to deal with it anyways!
   */
  virtual void getActiveControllers(std::vector<std::string> &names)
  {
    getControllersList(names);
  }

  /*
   * Controller must be loaded to be active, see comment above about active controllers...
   */
  virtual void getLoadedControllers(std::vector<std::string> &names)
  {
    getControllersList(names);
  }

  /*
   * Get the list of joints that a controller can control.
   */
  virtual void getControllerJoints(const std::string &name, std::vector<std::string> &joints)
  {
    std::map<std::string, moveit_controller_manager::MoveItControllerHandlePtr>::const_iterator it = controllers_.find(name);
    if (it != controllers_.end())
    {
      static_cast<FakeControllerHandle*>(it->second.get())->getJoints(joints);
    }
    else
    {
      ROS_WARN("The joints for controller '%s' are not known. Perhaps the controller configuration is not loaded on the param server?", name.c_str());
      joints.clear();
    }
  }

  /*
   * Controllers are all active and default.
   */
  virtual moveit_controller_manager::MoveItControllerManager::ControllerState getControllerState(const std::string &name)
  {
    moveit_controller_manager::MoveItControllerManager::ControllerState state;
    state.active_ = true;
    state.default_ = true;
    return state;
  }

  /* Cannot switch our controllers */
  virtual bool switchControllers(const std::vector<std::string> &activate, const std::vector<std::string> &deactivate) { return false; }

protected:

  ros::NodeHandle node_handle_;
  std::map<std::string, moveit_controller_manager::MoveItControllerHandlePtr> controllers_;
};

} // end namespace moveit_fake_controller_manager

PLUGINLIB_EXPORT_CLASS(moveit_fake_controller_manager::MoveItFakeControllerManager,
                       moveit_controller_manager::MoveItControllerManager);