gazebo_ros_moveit_planning_scene.h

Go to the documentation of this file.

/*
 * Copyright (C) 2012-2014 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/*
 * Desc: A plugin which publishes the gazebo world state as a MoveIt! planning scene
 * Author: Jonathan Bohren
 * Date: 15 May 2014
 */
#ifndef GAZEBO_ROS_MOVEIT_PLANNING_SCENE_H
#define GAZEBO_ROS_MOVEIT_PLANNING_SCENE_H

#include <string>

// Custom Callback Queue
#include <ros/callback_queue.h>
#include <ros/subscribe_options.h>
#include <geometry_msgs/Pose.h>

#include <ros/ros.h>
#include <boost/thread.hpp>
#include <boost/thread/mutex.hpp>

#include <gazebo/physics/physics.hh>
#include <gazebo/transport/TransportTypes.hh>
#include <gazebo/common/Plugin.hh>
#include <gazebo/common/Events.hh>

#include <std_srvs/Empty.h>
#include <moveit_msgs/PlanningScene.h>

namespace gazebo
{

class GazeboRosMoveItPlanningScene : public ModelPlugin
{
  public: GazeboRosMoveItPlanningScene();

  public: virtual ~GazeboRosMoveItPlanningScene();

  // Documentation inherited
  protected: void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);

  // Documentation inherited
  protected: virtual void UpdateCB();

  protected: void subscriber_connected();

  private: bool PublishPlanningSceneCB(
               std_srvs::Empty::Request& req,
               std_srvs::Empty::Response& resp);

  private: void QueueThread();

  private: physics::WorldPtr world_;

  private: physics::ModelPtr model_;

  private: boost::scoped_ptr<ros::NodeHandle> rosnode_;
  private: ros::Publisher planning_scene_pub_;
           ros::ServiceServer publish_planning_scene_service_;

  private: boost::mutex mutex_;

  private: std::string topic_name_;
  private: std::string scene_name_;
  private: std::string robot_name_;
  private: std::string model_name_;

  private: std::string robot_namespace_;

  // Custom Callback Queue
  private: ros::CallbackQueue queue_;
  private: boost::thread callback_queue_thread_;
  private: moveit_msgs::PlanningScene planning_scene_msg_;
           std::map<std::string, moveit_msgs::CollisionObject> collision_object_map_;

  // Pointer to the update event connection
  private: event::ConnectionPtr update_connection_;
  private: event::ConnectionPtr add_connection_;
  private: event::ConnectionPtr delete_connection_;

  private:
           bool publish_full_scene_;

           ros::Duration publish_period_;
           ros::Time last_publish_time_;
};
}
#endif