display_random_state.cpp
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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().setToRandomPositions();
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::endl;
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().setToRandomPositions();
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::endl;
00129             continue;
00130           }
00131         }
00132         else
00133           psm.getPlanningScene()->getCurrentStateNonConst().setToRandomPositions();
00134 
00135       moveit_msgs::PlanningScene psmsg;
00136       psm.getPlanningScene()->getPlanningSceneMsg(psmsg);
00137       pub_scene.publish(psmsg);
00138       std::cout << psm.getPlanningScene()->getCurrentState() << std::endl;
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 Wed Aug 26 2015 12:43:30