move_group_context.cpp

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/* Author: Ioan Sucan */

#include <moveit/move_group/move_group_context.h>

#include <moveit/planning_pipeline/planning_pipeline.h>
#include <moveit/plan_execution/plan_execution.h>
#include <moveit/plan_execution/plan_with_sensing.h>

move_group::MoveGroupContext::MoveGroupContext(
    const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor, bool allow_trajectory_execution,
    bool debug)
  : planning_scene_monitor_(planning_scene_monitor)
  , allow_trajectory_execution_(allow_trajectory_execution)
  , debug_(debug)
{
  planning_pipeline_.reset(new planning_pipeline::PlanningPipeline(planning_scene_monitor_->getRobotModel()));

  if (allow_trajectory_execution_)
  {
    trajectory_execution_manager_.reset(new trajectory_execution_manager::TrajectoryExecutionManager(
        planning_scene_monitor_->getRobotModel(), planning_scene_monitor_->getStateMonitor()));
    plan_execution_.reset(new plan_execution::PlanExecution(planning_scene_monitor_, trajectory_execution_manager_));
    plan_with_sensing_.reset(new plan_execution::PlanWithSensing(trajectory_execution_manager_));
    if (debug)
      plan_with_sensing_->displayCostSources(true);
  }

  // configure the planning pipeline
  planning_pipeline_->displayComputedMotionPlans(true);
  planning_pipeline_->checkSolutionPaths(true);

  if (debug_)
    planning_pipeline_->publishReceivedRequests(true);
}

move_group::MoveGroupContext::~MoveGroupContext()
{
  plan_with_sensing_.reset();
  plan_execution_.reset();
  trajectory_execution_manager_.reset();
  planning_pipeline_.reset();
  planning_scene_monitor_.reset();
}

bool move_group::MoveGroupContext::status() const
{
  const planning_interface::PlannerManagerPtr& planner_interface = planning_pipeline_->getPlannerManager();
  if (planner_interface)
  {
    ROS_INFO_STREAM("MoveGroup context using planning plugin " << planning_pipeline_->getPlannerPluginName());
    ROS_INFO_STREAM("MoveGroup context initialization complete");
    return true;
  }
  else
  {
    ROS_WARN_STREAM("MoveGroup running was unable to load " << planning_pipeline_->getPlannerPluginName());
    return false;
  }
}