initialize_demo_db.cpp

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/* Author: Ioan Sucan */

#include <moveit/warehouse/planning_scene_storage.h>
#include <moveit/warehouse/constraints_storage.h>
#include <moveit/warehouse/state_storage.h>
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <moveit/robot_state/conversions.h>
#include <moveit/kinematic_constraints/utils.h>
#include <boost/algorithm/string/join.hpp>
#include <boost/program_options/cmdline.hpp>
#include <boost/program_options/options_description.hpp>
#include <boost/program_options/parsers.hpp>
#include <boost/program_options/variables_map.hpp>
#include <boost/math/constants/constants.hpp>
#include <ros/ros.h>

static const std::string ROBOT_DESCRIPTION = "robot_description";

int main(int argc, char** argv)
{
  ros::init(argc, argv, "initialize_demo_db", ros::init_options::AnonymousName);

  boost::program_options::options_description desc;
  desc.add_options()("help", "Show help message")("host", boost::program_options::value<std::string>(), "Host for the "
                                                                                                        "MongoDB.")(
      "port", boost::program_options::value<std::size_t>(), "Port for the MongoDB.");

  boost::program_options::variables_map vm;
  boost::program_options::store(boost::program_options::parse_command_line(argc, argv, desc), vm);
  boost::program_options::notify(vm);

  if (vm.count("help"))
  {
    std::cout << desc << std::endl;
    return 1;
  }

  ros::AsyncSpinner spinner(1);
  spinner.start();

  ros::NodeHandle nh;
  planning_scene_monitor::PlanningSceneMonitor psm(ROBOT_DESCRIPTION);
  if (!psm.getPlanningScene())
  {
    ROS_ERROR("Unable to initialize PlanningSceneMonitor");
    return 1;
  }

  bool done = false;
  unsigned int attempts = 0;
  while (!done && attempts < 5)
  {
    attempts++;
    try
    {
      moveit_warehouse::PlanningSceneStorage pss(vm.count("host") ? vm["host"].as<std::string>() : "",
                                                 vm.count("port") ? vm["port"].as<std::size_t>() : 0);
      moveit_warehouse::ConstraintsStorage cs(vm.count("host") ? vm["host"].as<std::string>() : "",
                                              vm.count("port") ? vm["port"].as<std::size_t>() : 0);
      moveit_warehouse::RobotStateStorage rs(vm.count("host") ? vm["host"].as<std::string>() : "",
                                             vm.count("port") ? vm["port"].as<std::size_t>() : 0);
      pss.reset();
      cs.reset();
      rs.reset();

      // add default planning scenes
      moveit_msgs::PlanningScene psmsg;
      psm.getPlanningScene()->getPlanningSceneMsg(psmsg);
      psmsg.name = "default";
      pss.addPlanningScene(psmsg);
      ROS_INFO("Added default scene: '%s'", psmsg.name.c_str());

      moveit_msgs::RobotState rsmsg;
      robot_state::robotStateToRobotStateMsg(psm.getPlanningScene()->getCurrentState(), rsmsg);
      rs.addRobotState(rsmsg, "default");
      ROS_INFO("Added default state");

      const std::vector<std::string>& gnames = psm.getRobotModel()->getJointModelGroupNames();
      for (std::size_t i = 0; i < gnames.size(); ++i)
      {
        const robot_model::JointModelGroup* jmg = psm.getRobotModel()->getJointModelGroup(gnames[i]);
        if (!jmg->isChain())
          continue;
        const std::vector<std::string>& lnames = jmg->getLinkModelNames();
        if (lnames.empty())
          continue;

        moveit_msgs::OrientationConstraint ocm;
        ocm.link_name = lnames.back();
        ocm.header.frame_id = psm.getRobotModel()->getModelFrame();
        ocm.orientation.x = 0.0;
        ocm.orientation.y = 0.0;
        ocm.orientation.z = 0.0;
        ocm.orientation.w = 1.0;
        ocm.absolute_x_axis_tolerance = 0.1;
        ocm.absolute_y_axis_tolerance = 0.1;
        ocm.absolute_z_axis_tolerance = boost::math::constants::pi<double>();
        ocm.weight = 1.0;
        moveit_msgs::Constraints cmsg;
        cmsg.orientation_constraints.resize(1, ocm);
        cmsg.name = ocm.link_name + ":upright";
        cs.addConstraints(cmsg, psm.getRobotModel()->getName(), jmg->getName());
        ROS_INFO("Added default constraint: '%s'", cmsg.name.c_str());
      }
      done = true;
      ROS_INFO("Default MoveIt! Warehouse was reset. Done.");
    }
    catch (mongo_ros::DbConnectException& ex)
    {
      ROS_WARN("MongoDB does not appear to be initialized yet. Waiting for a few seconds before trying again ...");
      ros::WallDuration(15.0).sleep();
    }
  }

  ros::shutdown();

  return 0;
}