planning_scene_interface.cpp

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/* Author: Ioan Sucan, Sachin Chitta */

#include <moveit/planning_scene_interface/planning_scene_interface.h>
#include <moveit/move_group/capability_names.h>
#include <moveit_msgs/GetPlanningScene.h>
#include <moveit_msgs/ApplyPlanningScene.h>
#include <ros/ros.h>
#include <algorithm>

namespace moveit
{
namespace planning_interface
{
static const std::string LOGNAME = "planning_scene_interface";

class PlanningSceneInterface::PlanningSceneInterfaceImpl
{
public:
  explicit PlanningSceneInterfaceImpl(const std::string& ns = "", bool wait = true)
  {
    node_handle_ = ros::NodeHandle(ns);
    planning_scene_diff_publisher_ = node_handle_.advertise<moveit_msgs::PlanningScene>("planning_scene", 1);
    planning_scene_service_ =
        node_handle_.serviceClient<moveit_msgs::GetPlanningScene>(move_group::GET_PLANNING_SCENE_SERVICE_NAME);
    apply_planning_scene_service_ =
        node_handle_.serviceClient<moveit_msgs::ApplyPlanningScene>(move_group::APPLY_PLANNING_SCENE_SERVICE_NAME);

    if (wait)
    {
      waitForService(planning_scene_service_);
      waitForService(apply_planning_scene_service_);
    }
    else
    {
      if (!planning_scene_service_.exists() || !apply_planning_scene_service_.exists())
      {
        throw std::runtime_error("ROS services not available");
      }
    }
  }

  std::vector<std::string> getKnownObjectNames(bool with_type)
  {
    moveit_msgs::GetPlanningScene::Request request;
    moveit_msgs::GetPlanningScene::Response response;
    std::vector<std::string> result;
    request.components.components = request.components.WORLD_OBJECT_NAMES;
    if (!planning_scene_service_.call(request, response))
      return result;
    if (with_type)
    {
      for (std::size_t i = 0; i < response.scene.world.collision_objects.size(); ++i)
        if (!response.scene.world.collision_objects[i].type.key.empty())
          result.push_back(response.scene.world.collision_objects[i].id);
    }
    else
    {
      for (std::size_t i = 0; i < response.scene.world.collision_objects.size(); ++i)
        result.push_back(response.scene.world.collision_objects[i].id);
    }
    return result;
  }

  std::vector<std::string> getKnownObjectNamesInROI(double minx, double miny, double minz, double maxx, double maxy,
                                                    double maxz, bool with_type, std::vector<std::string>& types)
  {
    moveit_msgs::GetPlanningScene::Request request;
    moveit_msgs::GetPlanningScene::Response response;
    std::vector<std::string> result;
    request.components.components = request.components.WORLD_OBJECT_GEOMETRY;
    if (!planning_scene_service_.call(request, response))
    {
      ROS_WARN_NAMED(LOGNAME, "Could not call planning scene service to get object names");
      return result;
    }

    for (std::size_t i = 0; i < response.scene.world.collision_objects.size(); ++i)
    {
      if (with_type && response.scene.world.collision_objects[i].type.key.empty())
        continue;
      if (response.scene.world.collision_objects[i].mesh_poses.empty() &&
          response.scene.world.collision_objects[i].primitive_poses.empty())
        continue;
      bool good = true;
      for (std::size_t j = 0; j < response.scene.world.collision_objects[i].mesh_poses.size(); ++j)
        if (!(response.scene.world.collision_objects[i].mesh_poses[j].position.x >= minx &&
              response.scene.world.collision_objects[i].mesh_poses[j].position.x <= maxx &&
              response.scene.world.collision_objects[i].mesh_poses[j].position.y >= miny &&
              response.scene.world.collision_objects[i].mesh_poses[j].position.y <= maxy &&
              response.scene.world.collision_objects[i].mesh_poses[j].position.z >= minz &&
              response.scene.world.collision_objects[i].mesh_poses[j].position.z <= maxz))
        {
          good = false;
          break;
        }
      for (std::size_t j = 0; j < response.scene.world.collision_objects[i].primitive_poses.size(); ++j)
        if (!(response.scene.world.collision_objects[i].primitive_poses[j].position.x >= minx &&
              response.scene.world.collision_objects[i].primitive_poses[j].position.x <= maxx &&
              response.scene.world.collision_objects[i].primitive_poses[j].position.y >= miny &&
              response.scene.world.collision_objects[i].primitive_poses[j].position.y <= maxy &&
              response.scene.world.collision_objects[i].primitive_poses[j].position.z >= minz &&
              response.scene.world.collision_objects[i].primitive_poses[j].position.z <= maxz))
        {
          good = false;
          break;
        }
      if (good)
      {
        result.push_back(response.scene.world.collision_objects[i].id);
        if (with_type)
          types.push_back(response.scene.world.collision_objects[i].type.key);
      }
    }
    return result;
  }

  std::map<std::string, geometry_msgs::Pose> getObjectPoses(const std::vector<std::string>& object_ids)
  {
    moveit_msgs::GetPlanningScene::Request request;
    moveit_msgs::GetPlanningScene::Response response;
    std::map<std::string, geometry_msgs::Pose> result;
    request.components.components = request.components.WORLD_OBJECT_GEOMETRY;
    if (!planning_scene_service_.call(request, response))
    {
      ROS_WARN_NAMED(LOGNAME, "Could not call planning scene service to get object names");
      return result;
    }

    for (std::size_t i = 0; i < response.scene.world.collision_objects.size(); ++i)
    {
      if (std::find(object_ids.begin(), object_ids.end(), response.scene.world.collision_objects[i].id) !=
          object_ids.end())
      {
        if (response.scene.world.collision_objects[i].mesh_poses.empty() &&
            response.scene.world.collision_objects[i].primitive_poses.empty())
          continue;
        if (!response.scene.world.collision_objects[i].mesh_poses.empty())
          result[response.scene.world.collision_objects[i].id] =
              response.scene.world.collision_objects[i].mesh_poses[0];
        else
          result[response.scene.world.collision_objects[i].id] =
              response.scene.world.collision_objects[i].primitive_poses[0];
      }
    }
    return result;
  }

  std::map<std::string, moveit_msgs::CollisionObject> getObjects(const std::vector<std::string>& object_ids)
  {
    moveit_msgs::GetPlanningScene::Request request;
    moveit_msgs::GetPlanningScene::Response response;
    std::map<std::string, moveit_msgs::CollisionObject> result;
    request.components.components = request.components.WORLD_OBJECT_GEOMETRY;
    if (!planning_scene_service_.call(request, response))
    {
      ROS_WARN_NAMED(LOGNAME, "Could not call planning scene service to get object geometries");
      return result;
    }

    for (std::size_t i = 0; i < response.scene.world.collision_objects.size(); ++i)
    {
      if (object_ids.empty() || std::find(object_ids.begin(), object_ids.end(),
                                          response.scene.world.collision_objects[i].id) != object_ids.end())
      {
        result[response.scene.world.collision_objects[i].id] = response.scene.world.collision_objects[i];
      }
    }
    return result;
  }

  std::map<std::string, moveit_msgs::AttachedCollisionObject>
  getAttachedObjects(const std::vector<std::string>& object_ids)
  {
    moveit_msgs::GetPlanningScene::Request request;
    moveit_msgs::GetPlanningScene::Response response;
    std::map<std::string, moveit_msgs::AttachedCollisionObject> result;
    request.components.components = request.components.ROBOT_STATE_ATTACHED_OBJECTS;
    if (!planning_scene_service_.call(request, response))
    {
      ROS_WARN_NAMED(LOGNAME, "Could not call planning scene service to get attached object geometries");
      return result;
    }

    for (std::size_t i = 0; i < response.scene.robot_state.attached_collision_objects.size(); ++i)
    {
      if (object_ids.empty() ||
          std::find(object_ids.begin(), object_ids.end(),
                    response.scene.robot_state.attached_collision_objects[i].object.id) != object_ids.end())
      {
        result[response.scene.robot_state.attached_collision_objects[i].object.id] =
            response.scene.robot_state.attached_collision_objects[i];
      }
    }
    return result;
  }

  bool applyPlanningScene(const moveit_msgs::PlanningScene& planning_scene)
  {
    moveit_msgs::ApplyPlanningScene::Request request;
    moveit_msgs::ApplyPlanningScene::Response response;
    request.scene = planning_scene;
    if (!apply_planning_scene_service_.call(request, response))
    {
      ROS_WARN_NAMED(LOGNAME, "Failed to call ApplyPlanningScene service");
      return false;
    }
    return response.success;
  }

  void addCollisionObjects(const std::vector<moveit_msgs::CollisionObject>& collision_objects,
                           const std::vector<moveit_msgs::ObjectColor>& object_colors) const
  {
    moveit_msgs::PlanningScene planning_scene;
    planning_scene.world.collision_objects = collision_objects;
    planning_scene.object_colors = object_colors;

    for (size_t i = 0; i < planning_scene.object_colors.size(); ++i)
    {
      if (planning_scene.object_colors[i].id.empty() && i < collision_objects.size())
        planning_scene.object_colors[i].id = collision_objects[i].id;
      else
        break;
    }

    planning_scene.is_diff = true;
    planning_scene_diff_publisher_.publish(planning_scene);
  }

  void removeCollisionObjects(const std::vector<std::string>& object_ids) const
  {
    moveit_msgs::PlanningScene planning_scene;
    moveit_msgs::CollisionObject object;
    for (std::size_t i = 0; i < object_ids.size(); ++i)
    {
      object.id = object_ids[i];
      object.operation = object.REMOVE;
      planning_scene.world.collision_objects.push_back(object);
    }
    planning_scene.is_diff = true;
    planning_scene_diff_publisher_.publish(planning_scene);
  }

private:
  void waitForService(ros::ServiceClient& srv)
  {
    ros::Duration time_before_warning(5.0);
    srv.waitForExistence(time_before_warning);
    if (!srv.exists())
    {
      ROS_WARN_STREAM_NAMED(LOGNAME, "service '" << srv.getService() << "' not advertised yet. Continue waiting...");
      srv.waitForExistence();
    }
  }

  ros::NodeHandle node_handle_;
  ros::ServiceClient planning_scene_service_;
  ros::ServiceClient apply_planning_scene_service_;
  ros::Publisher planning_scene_diff_publisher_;
  robot_model::RobotModelConstPtr robot_model_;
};

PlanningSceneInterface::PlanningSceneInterface(const std::string& ns, bool wait)
{
  impl_ = new PlanningSceneInterfaceImpl(ns, wait);
}

PlanningSceneInterface::~PlanningSceneInterface()
{
  delete impl_;
}

std::vector<std::string> PlanningSceneInterface::getKnownObjectNames(bool with_type)
{
  return impl_->getKnownObjectNames(with_type);
}

std::vector<std::string> PlanningSceneInterface::getKnownObjectNamesInROI(double minx, double miny, double minz,
                                                                          double maxx, double maxy, double maxz,
                                                                          bool with_type,
                                                                          std::vector<std::string>& types)
{
  return impl_->getKnownObjectNamesInROI(minx, miny, minz, maxx, maxy, maxz, with_type, types);
}

std::map<std::string, geometry_msgs::Pose>
PlanningSceneInterface::getObjectPoses(const std::vector<std::string>& object_ids)
{
  return impl_->getObjectPoses(object_ids);
}

std::map<std::string, moveit_msgs::CollisionObject>
PlanningSceneInterface::getObjects(const std::vector<std::string>& object_ids)
{
  return impl_->getObjects(object_ids);
}

std::map<std::string, moveit_msgs::AttachedCollisionObject>
PlanningSceneInterface::getAttachedObjects(const std::vector<std::string>& object_ids)
{
  return impl_->getAttachedObjects(object_ids);
}

bool PlanningSceneInterface::applyCollisionObject(const moveit_msgs::CollisionObject& collision_object)
{
  moveit_msgs::PlanningScene ps;
  ps.robot_state.is_diff = true;
  ps.is_diff = true;
  ps.world.collision_objects.reserve(1);
  ps.world.collision_objects.push_back(collision_object);
  return applyPlanningScene(ps);
}

bool PlanningSceneInterface::applyCollisionObject(const moveit_msgs::CollisionObject& collision_object,
                                                  const std_msgs::ColorRGBA& object_color)
{
  moveit_msgs::PlanningScene ps;
  ps.robot_state.is_diff = true;
  ps.is_diff = true;
  ps.world.collision_objects.reserve(1);
  ps.world.collision_objects.push_back(collision_object);
  moveit_msgs::ObjectColor oc;
  oc.id = collision_object.id;
  oc.color = object_color;
  ps.object_colors.push_back(oc);
  return applyPlanningScene(ps);
}

bool PlanningSceneInterface::applyCollisionObjects(const std::vector<moveit_msgs::CollisionObject>& collision_objects,
                                                   const std::vector<moveit_msgs::ObjectColor>& object_colors)
{
  moveit_msgs::PlanningScene ps;
  ps.robot_state.is_diff = true;
  ps.is_diff = true;
  ps.world.collision_objects = collision_objects;
  ps.object_colors = object_colors;

  for (size_t i = 0; i < ps.object_colors.size(); ++i)
  {
    if (ps.object_colors[i].id.empty() && i < collision_objects.size())
      ps.object_colors[i].id = collision_objects[i].id;
    else
      break;
  }

  return applyPlanningScene(ps);
}

bool PlanningSceneInterface::applyAttachedCollisionObject(const moveit_msgs::AttachedCollisionObject& collision_object)
{
  moveit_msgs::PlanningScene ps;
  ps.robot_state.is_diff = true;
  ps.is_diff = true;
  ps.robot_state.attached_collision_objects.reserve(1);
  ps.robot_state.attached_collision_objects.push_back(collision_object);
  return applyPlanningScene(ps);
}

bool PlanningSceneInterface::applyAttachedCollisionObjects(
    const std::vector<moveit_msgs::AttachedCollisionObject>& collision_objects)
{
  moveit_msgs::PlanningScene ps;
  ps.robot_state.is_diff = true;
  ps.is_diff = true;
  ps.robot_state.attached_collision_objects = collision_objects;
  return applyPlanningScene(ps);
}

bool PlanningSceneInterface::applyPlanningScene(const moveit_msgs::PlanningScene& ps)
{
  return impl_->applyPlanningScene(ps);
}

void PlanningSceneInterface::addCollisionObjects(const std::vector<moveit_msgs::CollisionObject>& collision_objects,
                                                 const std::vector<moveit_msgs::ObjectColor>& object_colors) const
{
  impl_->addCollisionObjects(collision_objects, object_colors);
}

void PlanningSceneInterface::removeCollisionObjects(const std::vector<std::string>& object_ids) const
{
  impl_->removeCollisionObjects(object_ids);
}
}  // namespace planning_interface
}  // namespace moveit