pick_place.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <moveit/pick_place/pick_place.h>
00038 #include <moveit/robot_state/conversions.h>
00039 #include <moveit_msgs/DisplayTrajectory.h>
00040 #include <visualization_msgs/MarkerArray.h>
00041 #include <eigen_conversions/eigen_msg.h>
00042 #include <ros/console.h>
00043 
00044 namespace pick_place
00045 {
00046 const std::string PickPlace::DISPLAY_PATH_TOPIC = planning_pipeline::PlanningPipeline::DISPLAY_PATH_TOPIC;
00047 const std::string PickPlace::DISPLAY_GRASP_TOPIC = "display_grasp_markers";
00048 const double PickPlace::DEFAULT_GRASP_POSTURE_COMPLETION_DURATION = 7.0;  // seconds
00049 
00050 // functionality specific to pick-only is in pick.cpp;
00051 // functionality specific to place-only is in place.cpp;
00052 
00053 PickPlacePlanBase::PickPlacePlanBase(const PickPlaceConstPtr& pick_place, const std::string& name)
00054   : pick_place_(pick_place), pipeline_(name, 4), last_plan_time_(0.0), done_(false)
00055 {
00056   pipeline_.setSolutionCallback(boost::bind(&PickPlacePlanBase::foundSolution, this));
00057   pipeline_.setEmptyQueueCallback(boost::bind(&PickPlacePlanBase::emptyQueue, this));
00058 }
00059 
00060 PickPlacePlanBase::~PickPlacePlanBase()
00061 {
00062 }
00063 
00064 void PickPlacePlanBase::foundSolution()
00065 {
00066   boost::mutex::scoped_lock slock(done_mutex_);
00067   done_ = true;
00068   done_condition_.notify_all();
00069 }
00070 
00071 void PickPlacePlanBase::emptyQueue()
00072 {
00073   boost::mutex::scoped_lock slock(done_mutex_);
00074   if (pushed_all_poses_)
00075   {
00076     done_ = true;
00077     done_condition_.notify_all();
00078   }
00079 }
00080 
00081 void PickPlacePlanBase::initialize()
00082 {
00083   done_ = false;
00084   pushed_all_poses_ = false;
00085 }
00086 
00087 void PickPlacePlanBase::waitForPipeline(const ros::WallTime& endtime)
00088 {
00089   // wait till we're done
00090   boost::unique_lock<boost::mutex> lock(done_mutex_);
00091   pushed_all_poses_ = true;
00092   while (!done_ && endtime > ros::WallTime::now())
00093     done_condition_.timed_wait(lock, (endtime - ros::WallTime::now()).toBoost());
00094 }
00095 
00096 PickPlace::PickPlace(const planning_pipeline::PlanningPipelinePtr& planning_pipeline)
00097   : nh_("~"), planning_pipeline_(planning_pipeline), display_computed_motion_plans_(false), display_grasps_(false)
00098 {
00099   constraint_sampler_manager_loader_.reset(new constraint_sampler_manager_loader::ConstraintSamplerManagerLoader());
00100 }
00101 
00102 void PickPlace::displayProcessedGrasps(bool flag)
00103 {
00104   if (display_grasps_ && !flag)
00105     grasps_publisher_.shutdown();
00106   else if (!display_grasps_ && flag)
00107     grasps_publisher_ = nh_.advertise<visualization_msgs::MarkerArray>(DISPLAY_GRASP_TOPIC, 10, true);
00108   display_grasps_ = flag;
00109 }
00110 
00111 void PickPlace::displayComputedMotionPlans(bool flag)
00112 {
00113   if (display_computed_motion_plans_ && !flag)
00114     display_path_publisher_.shutdown();
00115   else if (!display_computed_motion_plans_ && flag)
00116     display_path_publisher_ = nh_.advertise<moveit_msgs::DisplayTrajectory>(DISPLAY_PATH_TOPIC, 10, true);
00117   display_computed_motion_plans_ = flag;
00118 }
00119 
00120 void PickPlace::visualizePlan(const ManipulationPlanPtr& plan) const
00121 {
00122   moveit_msgs::DisplayTrajectory dtraj;
00123   dtraj.model_id = getRobotModel()->getName();
00124   bool first = true;
00125   for (std::size_t i = 0; i < plan->trajectories_.size(); ++i)
00126   {
00127     if (!plan->trajectories_[i].trajectory_ || plan->trajectories_[i].trajectory_->empty())
00128       continue;
00129     if (first)
00130     {
00131       robot_state::robotStateToRobotStateMsg(plan->trajectories_[i].trajectory_->getFirstWayPoint(),
00132                                              dtraj.trajectory_start);
00133       first = false;
00134     }
00135     dtraj.trajectory.resize(dtraj.trajectory.size() + 1);
00136     plan->trajectories_[i].trajectory_->getRobotTrajectoryMsg(dtraj.trajectory.back());
00137   }
00138   display_path_publisher_.publish(dtraj);
00139 }
00140 
00141 void PickPlace::visualizeGrasp(const ManipulationPlanPtr& plan) const
00142 {
00143   visualizeGrasps(std::vector<ManipulationPlanPtr>(1, plan));
00144 }
00145 
00146 namespace
00147 {
00148 std::vector<std_msgs::ColorRGBA> setupDefaultGraspColors()
00149 {
00150   std::vector<std_msgs::ColorRGBA> result;
00151   result.resize(6);
00152   result[0].r = 0.5f;
00153   result[0].g = 0.5f;
00154   result[0].b = 0.5f;
00155   result[0].a = 1.0f;
00156   result[1].r = 1.0f;
00157   result[1].g = 0.0f;
00158   result[1].b = 0.0f;
00159   result[1].a = 1.0f;
00160   result[2].r = 1.0f;
00161   result[2].g = 0.5f;
00162   result[2].b = 0.0f;
00163   result[2].a = 1.0f;
00164   result[3].r = 0.0f;
00165   result[3].g = 1.0f;
00166   result[3].b = 1.0f;
00167   result[3].a = 1.0f;
00168   result[4].r = 0.0f;
00169   result[4].g = 1.0f;
00170   result[4].b = 0.0f;
00171   result[4].a = 1.0f;
00172   result[5].r = 1.0f;
00173   result[5].g = 0.0f;
00174   result[5].b = 1.0f;
00175   result[5].a = 0.75f;
00176   return result;
00177 }
00178 }
00179 
00180 void PickPlace::visualizeGrasps(const std::vector<ManipulationPlanPtr>& plans) const
00181 {
00182   if (plans.empty())
00183     return;
00184 
00185   robot_state::RobotState state(getRobotModel());
00186   state.setToDefaultValues();
00187 
00188   static std::vector<std_msgs::ColorRGBA> colors(setupDefaultGraspColors());
00189   visualization_msgs::MarkerArray ma;
00190   for (std::size_t i = 0; i < plans.size(); ++i)
00191   {
00192     const robot_model::JointModelGroup* jmg = plans[i]->shared_data_->end_effector_group_;
00193     if (jmg)
00194     {
00195       unsigned int type = std::min(plans[i]->processing_stage_, colors.size() - 1);
00196       state.updateStateWithLinkAt(plans[i]->shared_data_->ik_link_, plans[i]->transformed_goal_pose_);
00197       state.getRobotMarkers(ma, jmg->getLinkModelNames(), colors[type],
00198                             "moveit_grasps:stage_" + boost::lexical_cast<std::string>(plans[i]->processing_stage_),
00199                             ros::Duration(60));
00200     }
00201   }
00202 
00203   grasps_publisher_.publish(ma);
00204 }
00205 }


manipulation
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Mon Jul 24 2017 02:21:50