moveit_config_data.h

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/* Author: Dave Coleman */
 
#pragma once
 
#include <moveit/macros/class_forward.h>
#include <moveit/planning_scene/planning_scene.h>  // for getting kinematic model
#include <yaml-cpp/yaml.h>                         // outputing yaml config files
#include <urdf/model.h>                            // to share throughout app
#include <srdfdom/srdf_writer.h>                   // for writing srdf data
 
#include <utility>
 
namespace moveit_setup_assistant
{
// ******************************************************************************************
// Constants
// ******************************************************************************************
 
// Used for loading kinematic model
static const std::string ROBOT_DESCRIPTION = "robot_description";
static const std::string MOVEIT_ROBOT_STATE = "moveit_robot_state";
 
// Default kin solver values
static const double DEFAULT_KIN_SOLVER_SEARCH_RESOLUTION = 0.005;
static const double DEFAULT_KIN_SOLVER_TIMEOUT = 0.005;
 
// ******************************************************************************************
// Structs
// ******************************************************************************************
 
struct GroupMetaData
{
  std::string kinematics_solver_;               // Name of kinematics plugin to use
  double kinematics_solver_search_resolution_;  // resolution to use with solver
  double kinematics_solver_timeout_;            // solver timeout
  double goal_joint_tolerance_;                 // joint tolerance for goal constraints
  double goal_position_tolerance_;              // position tolerance for goal constraints
  double goal_orientation_tolerance_;           // orientation tolerance for goal constraints
  std::string kinematics_parameters_file_;      // file for additional kinematics parameters
  std::string default_planner_;                 // Name of the default planner to use
};
 
struct ControllerConfig
{
  std::string name_;                 // controller name
  std::string type_;                 // controller type
  std::vector<std::string> joints_;  // joints controller by this controller
};
 
struct OmplPlanningParameter
{
  std::string name;     // name of parameter
  std::string value;    // value parameter will receive (but as a string)
  std::string comment;  // comment briefly describing what this parameter does
};
 
class OMPLPlannerDescription
{
public:
  OMPLPlannerDescription(const std::string& name, const std::string& type)
  {
    name_ = name;
    type_ = type;
  };
  ~OMPLPlannerDescription()
  {
    parameter_list_.clear();
  };
  void addParameter(const std::string& name, const std::string& value = "", const std::string& comment = "")
  {
    OmplPlanningParameter temp;
    temp.name = name;
    temp.value = value;
    temp.comment = comment;
    parameter_list_.push_back(temp);
  }
  std::vector<OmplPlanningParameter> parameter_list_;
  std::string name_;  // name of planner
  std::string type_;  // type of planner (geometric)
};
 
class GenericParameter
{
public:
  GenericParameter()
  {
    comment_ = "";
  };
 
  void setName(std::string name)
  {
    name_ = std::move(name);
  };
  void setValue(std::string value)
  {
    value_ = std::move(value);
  };
  void setComment(std::string comment)
  {
    comment_ = std::move(comment);
  };
  const std::string& getName() const
  {
    return name_;
  };
  const std::string& getValue() const
  {
    return value_;
  };
  const std::string& getComment() const
  {
    return comment_;
  };
 
private:
  std::string name_;     // name of parameter
  std::string value_;    // value parameter will receive (but as a string)
  std::string comment_;  // comment briefly describing what this parameter does
};
 
MOVEIT_CLASS_FORWARD(MoveItConfigData);  // Defines MoveItConfigDataPtr, ConstPtr, WeakPtr... etc
 
class MoveItConfigData
{
public:
  MoveItConfigData();
  ~MoveItConfigData();
 
  // bits of information that can be entered in Setup Assistant
  enum InformationFields
  {
    COLLISIONS = 1 << 1,
    VIRTUAL_JOINTS = 1 << 2,
    GROUPS = 1 << 3,
    GROUP_CONTENTS = 1 << 4,
    GROUP_KINEMATICS = 1 << 5,
    POSES = 1 << 6,
    END_EFFECTORS = 1 << 7,
    PASSIVE_JOINTS = 1 << 8,
    SIMULATION = 1 << 9,
    AUTHOR_INFO = 1 << 10,
    SENSORS_CONFIG = 1 << 11,
    SRDF = COLLISIONS | VIRTUAL_JOINTS | GROUPS | GROUP_CONTENTS | POSES | END_EFFECTORS | PASSIVE_JOINTS
  };
  unsigned long changes;  // bitfield of changes (composed of InformationFields)
 
  // All of the data needed for creating a MoveIt Configuration Files
 
  // ******************************************************************************************
  // URDF Data
  // ******************************************************************************************
 
  std::string urdf_path_;
 
  std::string urdf_pkg_name_;
 
  std::string urdf_pkg_relative_path_;
 
  bool urdf_from_xacro_;
  std::string xacro_args_;
 
  urdf::ModelSharedPtr urdf_model_;
 
  std::string urdf_string_;
 
  // NOTE: Created when the robot urdf is not compatible with Gazebo.
  std::string gazebo_urdf_string_;
 
  // ******************************************************************************************
  // SRDF Data
  // ******************************************************************************************
 
  std::string srdf_path_;
 
  std::string srdf_pkg_relative_path_;
 
  srdf::SRDFWriterPtr srdf_;
 
  // ******************************************************************************************
  // Other Data
  // ******************************************************************************************
 
  std::map<std::string, GroupMetaData> group_meta_data_;
 
  std::string setup_assistant_path_;
 
  std::string config_pkg_path_;
 
  std::string template_package_path_;
 
  bool debug_;
 
  collision_detection::AllowedCollisionMatrix allowed_collision_matrix_;
 
  std::time_t config_pkg_generated_timestamp_;
 
  std::string author_name_;
 
  std::string author_email_;
 
  // ******************************************************************************************
  // Public Functions
  // ******************************************************************************************
 
  void setRobotModel(const moveit::core::RobotModelPtr& robot_model);
 
  moveit::core::RobotModelConstPtr getRobotModel();
 
  void updateRobotModel();
 
  planning_scene::PlanningScenePtr getPlanningScene();
 
  srdf::Model::Group* findGroupByName(const std::string& name);
 
  void loadAllowedCollisionMatrix(const srdf::SRDFWriter& srdf);
 
  // ******************************************************************************************
  // Public Functions for outputting configuration and setting files
  // ******************************************************************************************
  std::vector<OMPLPlannerDescription> getOMPLPlanners() const;
  std::map<std::string, double> getInitialJoints() const;
  bool outputSetupAssistantFile(const std::string& file_path);
  bool outputGazeboURDFFile(const std::string& file_path);
  bool outputOMPLPlanningYAML(const std::string& file_path);
  bool outputSTOMPPlanningYAML(const std::string& file_path);
  bool outputKinematicsYAML(const std::string& file_path);
  bool outputJointLimitsYAML(const std::string& file_path);
  bool outputFakeControllersYAML(const std::string& file_path);
  bool outputSimpleControllersYAML(const std::string& file_path);
  bool outputROSControllersYAML(const std::string& file_path);
  bool output3DSensorPluginYAML(const std::string& file_path);
 
  std::string getJointHardwareInterface(const std::string& joint_name);
 
  std::string decideProjectionJoints(const std::string& planning_group);
 
  bool inputOMPLYAML(const std::string& file_path);
 
  bool inputKinematicsYAML(const std::string& file_path);
 
  bool inputPlanningContextLaunch(const std::string& file_path);
 
  bool parseROSController(const YAML::Node& controller);
 
  bool processROSControllers(std::ifstream& input_stream);
 
  bool inputROSControllersYAML(const std::string& file_path);
 
  bool addDefaultControllers(const std::string& controller_type = "effort_controllers/JointTrajectoryController");
 
  bool setPackagePath(const std::string& pkg_path);
 
  bool extractPackageNameFromPath(const std::string& path, std::string& package_name,
                                  std::string& relative_filepath) const;
 
  bool getSetupAssistantYAMLPath(std::string& path);
 
  bool createFullURDFPath();
 
  bool createFullSRDFPath(const std::string& package_path);
 
  bool inputSetupAssistantYAML(const std::string& file_path);
 
  void input3DSensorsYAML(const std::string& file_path);
  static std::vector<std::map<std::string, GenericParameter>> load3DSensorsYAML(const std::string& file_path);
 
  std::string appendPaths(const std::string& path1, const std::string& path2);
 
  bool addController(const ControllerConfig& new_controller);
 
  std::vector<ControllerConfig>& getControllers()
  {
    return controller_configs_;
  }
 
  ControllerConfig* findControllerByName(const std::string& controller_name);
 
  bool deleteController(const std::string& controller_name);
 
  void addGenericParameterToSensorPluginConfig(const std::string& name, const std::string& value = "",
                                               const std::string& comment = "");
 
  void clearSensorPluginConfig();
 
  const std::vector<std::map<std::string, GenericParameter>>& getSensorPluginConfig() const
  {
    return sensors_plugin_config_parameter_list_;
  }
 
  srdf::Model::GroupState getDefaultStartPose();
 
  struct JointModelCompare
  {
    bool operator()(const moveit::core::JointModel* jm1, const moveit::core::JointModel* jm2) const
    {
      return jm1->getName() < jm2->getName();
    }
  };
 
private:
  // ******************************************************************************************
  // Private Vars
  // ******************************************************************************************
 
  std::vector<std::map<std::string, GenericParameter>> sensors_plugin_config_parameter_list_;
 
  moveit::core::RobotModelPtr robot_model_;
 
  std::vector<ControllerConfig> controller_configs_;
 
  planning_scene::PlanningScenePtr planning_scene_;
};
 
}  // namespace moveit_setup_assistant