move_group_context.cpp
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34 
35 /* Author: Ioan Sucan */
36 
38 
43 
45  const std::string& default_planning_pipeline,
46  bool allow_trajectory_execution, bool debug)
47  : moveit_cpp_(moveit_cpp)
48  , planning_scene_monitor_(moveit_cpp->getPlanningSceneMonitorNonConst())
49  , allow_trajectory_execution_(allow_trajectory_execution)
50  , debug_(debug)
51 {
52  // Check if default planning pipeline has been initialized successfully
53  const auto& pipelines = moveit_cpp->getPlanningPipelines();
54  const auto default_pipeline_it = pipelines.find(default_planning_pipeline);
55  if (default_pipeline_it != pipelines.end())
56  {
57  planning_pipeline_ = default_pipeline_it->second;
58 
59  // configure the planning pipeline
60  planning_pipeline_->displayComputedMotionPlans(true);
61  planning_pipeline_->checkSolutionPaths(true);
62 
63  if (debug_)
64  planning_pipeline_->publishReceivedRequests(true);
65  }
66  else
67  {
68  ROS_ERROR(
69  "Failed to find default PlanningPipeline '%s' - please check MoveGroup's planning pipeline configuration.",
70  default_planning_pipeline.c_str());
71  }
72 
74  {
75  trajectory_execution_manager_ = moveit_cpp_->getTrajectoryExecutionManagerNonConst();
77  std::make_shared<plan_execution::PlanExecution>(planning_scene_monitor_, trajectory_execution_manager_);
78  plan_with_sensing_ = std::make_shared<plan_execution::PlanWithSensing>(trajectory_execution_manager_);
79  if (debug)
80  plan_with_sensing_->displayCostSources(true);
81  }
82 }
83 
85 {
86  plan_with_sensing_.reset();
87  plan_execution_.reset();
88  trajectory_execution_manager_.reset();
89  planning_pipeline_.reset();
90  planning_scene_monitor_.reset();
91 }
92 
94 {
95  if (!planning_pipeline_)
96  {
97  ROS_ERROR("No planning pipeline initialized.");
98  return false;
99  }
100  const planning_interface::PlannerManagerPtr& planner_interface = planning_pipeline_->getPlannerManager();
101  if (planner_interface)
102  {
103  ROS_INFO_STREAM("MoveGroup context using planning plugin " << planning_pipeline_->getPlannerPluginName());
104  ROS_INFO_STREAM("MoveGroup context initialization complete");
105  return true;
106  }
107  else
108  {
109  ROS_WARN_STREAM("MoveGroup running was unable to load " << planning_pipeline_->getPlannerPluginName());
110  return false;
111  }
112 }
move_group::MoveGroupContext::planning_pipeline_
planning_pipeline::PlanningPipelinePtr planning_pipeline_
Definition: move_group_context.h:83
move_group::MoveGroupContext::~MoveGroupContext
~MoveGroupContext()
Definition: move_group_context.cpp:84
move_group::MoveGroupContext::trajectory_execution_manager_
trajectory_execution_manager::TrajectoryExecutionManagerPtr trajectory_execution_manager_
Definition: move_group_context.h:82
move_group::MoveGroupContext::plan_execution_
plan_execution::PlanExecutionPtr plan_execution_
Definition: move_group_context.h:84
move_group::MoveGroupContext::status
bool status() const
Definition: move_group_context.cpp:93
plan_with_sensing.h
move_group_context.h
ROS_WARN_STREAM
#define ROS_WARN_STREAM(args)
moveit_cpp
ROS_ERROR
#define ROS_ERROR(...)
move_group::MoveGroupContext::moveit_cpp_
moveit_cpp::MoveItCppPtr moveit_cpp_
Definition: move_group_context.h:80
move_group::MoveGroupContext::planning_scene_monitor_
planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_
Definition: move_group_context.h:81
ROS_INFO_STREAM
#define ROS_INFO_STREAM(args)
planning_pipeline.h
move_group::MoveGroupContext::plan_with_sensing_
plan_execution::PlanWithSensingPtr plan_with_sensing_
Definition: move_group_context.h:85
move_group::MoveGroupContext::allow_trajectory_execution_
bool allow_trajectory_execution_
Definition: move_group_context.h:86
move_group::MoveGroupContext::MoveGroupContext
MoveGroupContext(const moveit_cpp::MoveItCppPtr &moveit_cpp, const std::string &default_planning_pipeline, bool allow_trajectory_execution=false, bool debug=false)
Definition: move_group_context.cpp:44
move_group::MoveGroupContext::debug_
bool debug_
Definition: move_group_context.h:87
moveit_cpp.h
plan_execution.h


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Wed Feb 21 2024 03:26:08