call_benchmark.cpp

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/* Author: Ioan Sucan */

#include <planning_scene_monitor/planning_scene_monitor.h>
#include <ompl_interface_ros/ompl_interface_ros.h>
#include <moveit_msgs/ComputePlanningBenchmark.h>
#include <kinematic_constraints/utils.h>

static const std::string PLANNER_SERVICE_NAME="/ompl_planning/benchmark_planning_problem";
static const std::string ROBOT_DESCRIPTION="robot_description";

void benchmarkSimplePlan(const std::string &config)
{
    ros::NodeHandle nh;
    ros::service::waitForService(PLANNER_SERVICE_NAME);
    ros::ServiceClient benchmark_service_client = nh.serviceClient<moveit_msgs::ComputePlanningBenchmark>(PLANNER_SERVICE_NAME);

    moveit_msgs::ComputePlanningBenchmark::Request mplan_req;
    moveit_msgs::ComputePlanningBenchmark::Response mplan_res;

    planning_scene_monitor::PlanningSceneMonitor psm(ROBOT_DESCRIPTION);
    planning_scene::PlanningScene &scene = *psm.getPlanningScene();

    mplan_req.motion_plan_request.num_planning_attempts = 50;
    mplan_req.motion_plan_request.planner_id = config;
    mplan_req.motion_plan_request.group_name = "right_arm";
    mplan_req.motion_plan_request.allowed_planning_time = ros::Duration(5.0);
    const std::vector<std::string>& joint_names = scene.getRobotModel()->getJointModelGroup("right_arm")->getJointModelNames();
    mplan_req.motion_plan_request.goal_constraints.resize(1);
    mplan_req.motion_plan_request.goal_constraints[0].joint_constraints.resize(joint_names.size());
    for(unsigned int i = 0; i < joint_names.size(); i++)
    {
        mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[i].joint_name = joint_names[i];
        mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[i].position = 0.0;
        mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[i].tolerance_above = 0.001;
        mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[i].tolerance_below = 0.001;
        mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[i].weight = 1.0;
    }
    mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[0].position = -2.0;
    mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[3].position = -.2;
    mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[5].position = -.2;

    benchmark_service_client.call(mplan_req, mplan_res);
}

void benchmarkPathConstrained(const std::string &config)
{
  ros::NodeHandle nh;
  ros::service::waitForService(PLANNER_SERVICE_NAME);
  ros::ServiceClient benchmark_service_client = nh.serviceClient<moveit_msgs::ComputePlanningBenchmark>(PLANNER_SERVICE_NAME);

  moveit_msgs::ComputePlanningBenchmark::Request mplan_req;
  moveit_msgs::ComputePlanningBenchmark::Response mplan_res;

  planning_scene_monitor::PlanningSceneMonitor psm(ROBOT_DESCRIPTION);
  planning_scene::PlanningScene &scene = *psm.getPlanningScene();

  mplan_req.motion_plan_request.num_planning_attempts = 50;
  mplan_req.motion_plan_request.planner_id = config;
  mplan_req.motion_plan_request.group_name = "right_arm";

  mplan_req.motion_plan_request.allowed_planning_time = ros::Duration(15.0);
  const std::vector<std::string>& joint_names = scene.getRobotModel()->getJointModelGroup("right_arm")->getJointModelNames();
  mplan_req.motion_plan_request.goal_constraints.resize(1);
  mplan_req.motion_plan_request.goal_constraints[0].joint_constraints.resize(joint_names.size());

  for(unsigned int i = 0; i < joint_names.size(); i++)
  {
    mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[i].joint_name = joint_names[i];
    mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[i].position = 0.0;
    mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[i].tolerance_above = 1e-12;
    mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[i].tolerance_below = 1e-12;
    mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[i].weight = 1.0;
  }

  mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[0].position = -0.30826385287398406;
  mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[1].position = 0.61185361475247468;
  mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[2].position = -0.67790861269459102;
  mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[3].position = -1.0372591097007691;
  mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[4].position = -0.89601966543848288;
  mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[5].position = -1.9776217463278662;
  mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[6].position = 1.8552611548679128;



  mplan_req.motion_plan_request.start_state.joint_state.name = joint_names;
  mplan_req.motion_plan_request.start_state.joint_state.position.push_back(-1.21044517893021499);
  mplan_req.motion_plan_request.start_state.joint_state.position.push_back(0.038959594993384528);
  mplan_req.motion_plan_request.start_state.joint_state.position.push_back(-0.81412902362644646);
  mplan_req.motion_plan_request.start_state.joint_state.position.push_back(-1.0989597173881371);
  mplan_req.motion_plan_request.start_state.joint_state.position.push_back(2.3582101183671629);
  mplan_req.motion_plan_request.start_state.joint_state.position.push_back(-1.993988668449755);
  mplan_req.motion_plan_request.start_state.joint_state.position.push_back(-2.2779628049776051);




  // add path constraints
  moveit_msgs::Constraints &constr = mplan_req.motion_plan_request.path_constraints;
  constr.orientation_constraints.resize(1);
  moveit_msgs::OrientationConstraint &ocm = constr.orientation_constraints[0];
  ocm.link_name = "r_wrist_roll_link";
  ocm.header.frame_id = psm.getPlanningScene()->getPlanningFrame();
  ocm.orientation.x = 0.0;
  ocm.orientation.y = 0.0;
  ocm.orientation.z = 0.0;
  ocm.orientation.w = 1.0;
  ocm.absolute_x_axis_tolerance = 0.1;
  ocm.absolute_y_axis_tolerance = 0.1;
  ocm.absolute_z_axis_tolerance = M_PI;
  ocm.weight = 1.0;

  benchmark_service_client.call(mplan_req, mplan_res);
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "call_ompl_planning", ros::init_options::AnonymousName);
  ros::AsyncSpinner spinner(1);
  spinner.start();

  benchmarkPathConstrained("SBLkConfigDefault");
  benchmarkPathConstrained("ESTkConfigDefault");
  benchmarkPathConstrained("BKPIECEkConfigDefault");
  benchmarkPathConstrained("LBKPIECEkConfigDefault");
  benchmarkPathConstrained("KPIECEkConfigDefault");
  benchmarkPathConstrained("RRTkConfigDefault");
  benchmarkPathConstrained("RRTConnectkConfigDefault");

  /*
  benchmarkSimplePlan("SBLkConfigDefault");
  benchmarkSimplePlan("ESTkConfigDefault");
  benchmarkSimplePlan("BKPIECEkConfigDefault");
  benchmarkSimplePlan("LBKPIECEkConfigDefault");
  benchmarkSimplePlan("KPIECEkConfigDefault");
  benchmarkSimplePlan("RRTkConfigDefault");
  benchmarkSimplePlan("RRTConnectkConfigDefault");
*/
  //  benchmarkSimplePlan("KPIECEkConfigDefault");
  /*
  benchmarkSimplePlan("ESTkConfigDefault");
  benchmarkSimplePlan("BKPIECEkConfigDefault");
  benchmarkSimplePlan("LBKPIECEkConfigDefault");
  benchmarkSimplePlan("RRTkConfigDefault");
  */
  return 0;
}