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 if (invalid)
00085       std::cout << "invalid ";
00086     std::cout << "states will be randomly generated at an interval of one second and published as a planning scene."
00087               << 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 if (invalid)
00113       {
00114         bool found = false;
00115         unsigned int attempts = 0;
00116         do
00117         {
00118           attempts++;
00119           psm.getPlanningScene()->getCurrentStateNonConst().setToRandomPositions();
00120           collision_detection::CollisionRequest req;
00121           collision_detection::CollisionResult res;
00122           psm.getPlanningScene()->checkCollision(req, res);
00123           found = res.collision;
00124         } while (!found && attempts < 100);
00125         if (!found)
00126         {
00127           std::cout << "Unable to find invalid state" << std::endl;
00128           continue;
00129         }
00130       }
00131       else
00132         psm.getPlanningScene()->getCurrentStateNonConst().setToRandomPositions();
00133 
00134       moveit_msgs::PlanningScene psmsg;
00135       psm.getPlanningScene()->getPlanningSceneMsg(psmsg);
00136       pub_scene.publish(psmsg);
00137       std::cout << psm.getPlanningScene()->getCurrentState() << std::endl;
00138 
00139       sleep(1);
00140     }
00141   } while (nh.ok());
00142 
00143   ros::shutdown();
00144   return 0;
00145 }


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Mon Jul 24 2017 02:21:19