visualization_moveit.cpp

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//
// Copyright (c) 2018, Wolfgang Merkt
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are met:
//
//  * Redistributions of source code must retain the above copyright notice,
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//  * Redistributions in binary form must reproduce the above copyright
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//    prior written permission.
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#include <exotica_core/server.h>
#include <exotica_core/visualization_moveit.h>
 
#include <geometry_msgs/Transform.h>
#include <moveit_msgs/DisplayTrajectory.h>
 
namespace exotica
{
VisualizationMoveIt::VisualizationMoveIt(ScenePtr scene) : scene_(scene)
{
    if (scene->debug_) HIGHLIGHT_NAMED("VisualizationMoveIt", "Initialising visualizer");
    Initialize();
}
VisualizationMoveIt::~VisualizationMoveIt() = default;
 
void VisualizationMoveIt::Initialize()
{
    if (Server::IsRos())
    {
        trajectory_pub_ = Server::Advertise<moveit_msgs::DisplayTrajectory>(scene_->GetName() + (scene_->GetName().empty() ? "" : "/") + "Trajectory", 1, true);
    }
}
 
void VisualizationMoveIt::DisplayTrajectory(Eigen::MatrixXdRefConst trajectory)
{
    // TODO: Correctly handle dt for time_from_start
    // TODO:
    //   http://docs.ros.org/melodic/api/moveit_msgs/html/msg/DisplayTrajectory.html
 
    if (!Server::IsRos()) return;
 
    if (trajectory.cols() != scene_->GetKinematicTree().GetNumControlledJoints())
        ThrowPretty("Number of DoFs in trajectory does not match number of controlled joints of robot. Got " << trajectory.cols() << " but expected " << scene_->GetKinematicTree().GetNumControlledJoints());
 
    moveit_msgs::DisplayTrajectory traj_msg;
    traj_msg.model_id = scene_->GetKinematicTree().GetRobotModel()->getName();
 
    const int num_trajectory_points = trajectory.rows();
 
    traj_msg.trajectory.resize(1);
    traj_msg.trajectory[0].joint_trajectory.header.frame_id = scene_->GetRootFrameName();
    traj_msg.trajectory[0].joint_trajectory.header.stamp = ros::Time::now();
 
    // Floating base support
    int base_offset = 0;
    switch (scene_->GetKinematicTree().GetControlledBaseType())
    {
        case BaseType::FIXED:
            // HIGHLIGHT("Fixed base, no offset");
            break;
        case BaseType::PLANAR:
            // HIGHLIGHT("Planar, offset 3");
            base_offset = 3;
            break;
        case BaseType::FLOATING:
            // HIGHLIGHT("Floating, offset 6");
            base_offset = 6;
            break;
        default:
            ThrowPretty("Unknown base type.");
    }
 
    // Insert floating base if not a fixed-base controlled robot
    if (scene_->GetKinematicTree().GetControlledBaseType() != BaseType::FIXED)
    {
        traj_msg.trajectory[0].multi_dof_joint_trajectory.header.frame_id = scene_->GetRootFrameName();
        traj_msg.trajectory[0].multi_dof_joint_trajectory.joint_names.push_back(scene_->GetKinematicTree().GetRootJointName());
        traj_msg.trajectory[0].multi_dof_joint_trajectory.points.resize(num_trajectory_points);
 
        geometry_msgs::Transform base_transform;
        Eigen::Quaterniond quat;
        for (int i = 0; i < num_trajectory_points; ++i)
        {
            base_transform.translation.x = trajectory(i, 0);
            base_transform.translation.y = trajectory(i, 1);
 
            if (scene_->GetKinematicTree().GetControlledBaseType() == BaseType::FLOATING)
            {
                base_transform.translation.z = trajectory(i, 2);
                quat = Eigen::AngleAxisd(trajectory(i, 3), Eigen::Vector3d::UnitX()) * Eigen::AngleAxisd(trajectory(i, 4), Eigen::Vector3d::UnitY()) * Eigen::AngleAxisd(trajectory(i, 5), Eigen::Vector3d::UnitZ());
            }
            else if (scene_->GetKinematicTree().GetControlledBaseType() == BaseType::PLANAR)
            {
                base_transform.translation.z = 0.0;  // TODO: Technically: trans_z
                quat = Eigen::AngleAxisd(0.0, Eigen::Vector3d::UnitX()) * Eigen::AngleAxisd(0.0, Eigen::Vector3d::UnitY()) * Eigen::AngleAxisd(trajectory(i, 2), Eigen::Vector3d::UnitZ());
            }
 
            base_transform.rotation.x = quat.x();
            base_transform.rotation.y = quat.y();
            base_transform.rotation.z = quat.z();
            base_transform.rotation.w = quat.w();
 
            traj_msg.trajectory[0].multi_dof_joint_trajectory.points[i].transforms.push_back(base_transform);
        }
    }
 
    // Handle unactuated joints, i.e., joints whose values are not part of the trajectory:
    // TODO: How to handle unactuated floating-base?
    traj_msg.trajectory_start.joint_state.header.frame_id = scene_->GetRootFrameName();
 
    // Insert all starting joint states - including the floating base
    auto model_state_map = scene_->GetKinematicTree().GetModelStateMap();
    for (const auto& pair : model_state_map)
    {
        // Only push back if not part of the floating base - i.e., the joint name includes the root frame name.
        if (pair.first.find(scene_->GetRootFrameName()) == std::string::npos)
        {
            traj_msg.trajectory_start.joint_state.name.push_back(pair.first);
            traj_msg.trajectory_start.joint_state.position.push_back(pair.second);
        }
    }
 
    // Handle actuated joints - the joint names need to _exclude_ the base joints.
    const int num_actuated_joints_without_base = trajectory.cols() - base_offset;
    traj_msg.trajectory[0].joint_trajectory.points.resize(num_trajectory_points);
    traj_msg.trajectory[0].joint_trajectory.joint_names.resize(num_actuated_joints_without_base);
    for (int i = 0; i < num_actuated_joints_without_base; ++i)
        traj_msg.trajectory[0].joint_trajectory.joint_names[i] = scene_->GetKinematicTree().GetControlledJointNames()[base_offset + i];
 
    // Insert actuated joints without base
    for (int i = 0; i < num_trajectory_points; ++i)
    {
        traj_msg.trajectory[0].joint_trajectory.points[i].positions.resize(num_actuated_joints_without_base);
        for (int n = 0; n < num_actuated_joints_without_base; ++n)
        {
            traj_msg.trajectory[0].joint_trajectory.points[i].positions[n] = trajectory(i, n + base_offset);
        }
    }
 
    trajectory_pub_.publish(traj_msg);
}
}  // namespace exotica