initialize_demo_db.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <moveit/warehouse/planning_scene_storage.h>
00038 #include <moveit/warehouse/constraints_storage.h>
00039 #include <moveit/warehouse/state_storage.h>
00040 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
00041 #include <moveit/robot_state/conversions.h>
00042 #include <moveit/kinematic_constraints/utils.h>
00043 #include <boost/algorithm/string/join.hpp>
00044 #include <boost/program_options/cmdline.hpp>
00045 #include <boost/program_options/options_description.hpp>
00046 #include <boost/program_options/parsers.hpp>
00047 #include <boost/program_options/variables_map.hpp>
00048 #include <boost/math/constants/constants.hpp>
00049 #include <ros/ros.h>
00050 
00051 static const std::string ROBOT_DESCRIPTION = "robot_description";
00052 
00053 int main(int argc, char** argv)
00054 {
00055   ros::init(argc, argv, "initialize_demo_db", ros::init_options::AnonymousName);
00056 
00057   boost::program_options::options_description desc;
00058   desc.add_options()("help", "Show help message")("host", boost::program_options::value<std::string>(), "Host for the "
00059                                                                                                         "DB.")(
00060       "port", boost::program_options::value<std::size_t>(), "Port for the DB.");
00061 
00062   boost::program_options::variables_map vm;
00063   boost::program_options::store(boost::program_options::parse_command_line(argc, argv, desc), vm);
00064   boost::program_options::notify(vm);
00065 
00066   if (vm.count("help"))
00067   {
00068     std::cout << desc << std::endl;
00069     return 1;
00070   }
00071   // Set up db
00072   warehouse_ros::DatabaseConnection::Ptr conn = moveit_warehouse::loadDatabase();
00073   if (vm.count("host") && vm.count("port"))
00074     conn->setParams(vm["host"].as<std::string>(), vm["port"].as<std::size_t>());
00075   if (!conn->connect())
00076     return 1;
00077 
00078   ros::AsyncSpinner spinner(1);
00079   spinner.start();
00080 
00081   ros::NodeHandle nh;
00082   planning_scene_monitor::PlanningSceneMonitor psm(ROBOT_DESCRIPTION);
00083   if (!psm.getPlanningScene())
00084   {
00085     ROS_ERROR("Unable to initialize PlanningSceneMonitor");
00086     return 1;
00087   }
00088 
00089   moveit_warehouse::PlanningSceneStorage pss(conn);
00090   moveit_warehouse::ConstraintsStorage cs(conn);
00091   moveit_warehouse::RobotStateStorage rs(conn);
00092   pss.reset();
00093   cs.reset();
00094   rs.reset();
00095 
00096   // add default planning scenes
00097   moveit_msgs::PlanningScene psmsg;
00098   psm.getPlanningScene()->getPlanningSceneMsg(psmsg);
00099   psmsg.name = "default";
00100   pss.addPlanningScene(psmsg);
00101   ROS_INFO("Added default scene: '%s'", psmsg.name.c_str());
00102 
00103   moveit_msgs::RobotState rsmsg;
00104   robot_state::robotStateToRobotStateMsg(psm.getPlanningScene()->getCurrentState(), rsmsg);
00105   rs.addRobotState(rsmsg, "default");
00106   ROS_INFO("Added default state");
00107 
00108   const std::vector<std::string>& gnames = psm.getRobotModel()->getJointModelGroupNames();
00109   for (std::size_t i = 0; i < gnames.size(); ++i)
00110   {
00111     const robot_model::JointModelGroup* jmg = psm.getRobotModel()->getJointModelGroup(gnames[i]);
00112     if (!jmg->isChain())
00113       continue;
00114     const std::vector<std::string>& lnames = jmg->getLinkModelNames();
00115     if (lnames.empty())
00116       continue;
00117 
00118     moveit_msgs::OrientationConstraint ocm;
00119     ocm.link_name = lnames.back();
00120     ocm.header.frame_id = psm.getRobotModel()->getModelFrame();
00121     ocm.orientation.x = 0.0;
00122     ocm.orientation.y = 0.0;
00123     ocm.orientation.z = 0.0;
00124     ocm.orientation.w = 1.0;
00125     ocm.absolute_x_axis_tolerance = 0.1;
00126     ocm.absolute_y_axis_tolerance = 0.1;
00127     ocm.absolute_z_axis_tolerance = boost::math::constants::pi<double>();
00128     ocm.weight = 1.0;
00129     moveit_msgs::Constraints cmsg;
00130     cmsg.orientation_constraints.resize(1, ocm);
00131     cmsg.name = ocm.link_name + ":upright";
00132     cs.addConstraints(cmsg, psm.getRobotModel()->getName(), jmg->getName());
00133     ROS_INFO("Added default constraint: '%s'", cmsg.name.c_str());
00134   }
00135   ROS_INFO("Default MoveIt! Warehouse was reset.");
00136 
00137   ros::shutdown();
00138 
00139   return 0;
00140 }


warehouse
Author(s): Ioan Sucan
autogenerated on Mon Jul 24 2017 02:21:59