current_state_monitor.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <ros/ros.h>
#include <tf2_ros/buffer.h>
#include <moveit/robot_state/robot_state.h>
#include <sensor_msgs/JointState.h>
#include <boost/function.hpp>
#include <boost/thread/mutex.hpp>
#include <boost/thread/condition_variable.hpp>
 
namespace planning_scene_monitor
{
using JointStateUpdateCallback = boost::function<void(const sensor_msgs::JointStateConstPtr&)>;
 
class CurrentStateMonitor
{
  using TFConnection = boost::signals2::connection;
 
public:
  CurrentStateMonitor(const moveit::core::RobotModelConstPtr& robot_model,
                      const std::shared_ptr<tf2_ros::Buffer>& tf_buffer);
 
  CurrentStateMonitor(const moveit::core::RobotModelConstPtr& robot_model,
                      const std::shared_ptr<tf2_ros::Buffer>& tf_buffer, const ros::NodeHandle& nh);
 
  ~CurrentStateMonitor();
 
  void startStateMonitor(const std::string& joint_states_topic = "joint_states");
 
  void stopStateMonitor();
 
  bool isActive() const;
 
  const moveit::core::RobotModelConstPtr& getRobotModel() const
  {
    return robot_model_;
  }
 
  std::string getMonitoredTopic() const;
 
  inline bool haveCompleteState(const std::string& group = "") const
  {
    return haveCompleteStateHelper(ros::Time(0), nullptr, group);
  }
 
  inline bool haveCompleteState(const ros::Time& oldest_allowed_update_time, const std::string& group = "") const
  {
    return haveCompleteStateHelper(oldest_allowed_update_time, nullptr, group);
  }
 
  inline bool haveCompleteState(const ros::Duration& age, const std::string& group = "") const
  {
    return haveCompleteStateHelper(ros::Time::now() - age, nullptr, group);
  }
 
  inline bool haveCompleteState(std::vector<std::string>& missing_joints, const std::string& group = "") const
  {
    return haveCompleteStateHelper(ros::Time(0), &missing_joints, group);
  }
 
  inline bool haveCompleteState(const ros::Time& oldest_allowed_update_time, std::vector<std::string>& missing_joints,
                                const std::string& group = "") const
  {
    return haveCompleteStateHelper(oldest_allowed_update_time, &missing_joints, group);
  }
 
  inline bool haveCompleteState(const ros::Duration& age, std::vector<std::string>& missing_joints,
                                const std::string& group = "") const
  {
    return haveCompleteStateHelper(ros::Time::now() - age, &missing_joints, group);
  }
 
  moveit::core::RobotStatePtr getCurrentState() const;
 
  void setToCurrentState(moveit::core::RobotState& upd) const;
 
  ros::Time getCurrentStateTime(const std::string& group = "") const;
 
  std::pair<moveit::core::RobotStatePtr, ros::Time> getCurrentStateAndTime(const std::string& group = "") const;
 
  std::map<std::string, double> getCurrentStateValues() const;
 
  bool waitForCurrentState(const ros::Time t = ros::Time::now(), double wait_time = 1.0) const;
 
  bool waitForCompleteState(double wait_time) const;
 
  bool waitForCompleteState(const std::string& group, double wait_time) const;
 
  const ros::Time& getMonitorStartTime() const
  {
    return monitor_start_time_;
  }
 
  void addUpdateCallback(const JointStateUpdateCallback& fn);
 
  void clearUpdateCallbacks();
 
  void setBoundsError(double error)
  {
    error_ = (error > 0) ? error : -error;
  }
 
  double getBoundsError() const
  {
    return error_;
  }
 
  void enableCopyDynamics(bool enabled)
  {
    copy_dynamics_ = enabled;
  }
 
private:
  ros::Time getCurrentStateTimeHelper(const std::string& group = "") const;
  bool haveCompleteStateHelper(const ros::Time& oldest_allowed_update_time, std::vector<std::string>* missing_joints,
                               const std::string& group) const;
 
  void jointStateCallback(const sensor_msgs::JointStateConstPtr& joint_state);
  void tfCallback();
 
  ros::NodeHandle nh_;
  std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
  moveit::core::RobotModelConstPtr robot_model_;
  moveit::core::RobotState robot_state_;
  std::map<const moveit::core::JointModel*, ros::Time> joint_time_;
  bool state_monitor_started_;
  bool copy_dynamics_;  // Copy velocity and effort from joint_state
  ros::Time monitor_start_time_;
  double error_;
  ros::Subscriber joint_state_subscriber_;
 
  mutable boost::mutex state_update_lock_;
  mutable boost::condition_variable state_update_condition_;
  std::vector<JointStateUpdateCallback> update_callbacks_;
 
  std::shared_ptr<TFConnection> tf_connection_;
};
 
MOVEIT_CLASS_FORWARD(CurrentStateMonitor);  // Defines CurrentStateMonitorPtr, ConstPtr, WeakPtr... etc
}  // namespace planning_scene_monitor