plan_stage.cpp
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34 
35 /* Author: Ioan Sucan */
36 
40 #include <ros/console.h>
41 
42 namespace pick_place
43 {
44 PlanStage::PlanStage(const planning_scene::PlanningSceneConstPtr& scene,
45  const planning_pipeline::PlanningPipelinePtr& planning_pipeline)
46  : ManipulationStage("plan"), planning_scene_(scene), planning_pipeline_(planning_pipeline)
47 {
48 }
49 
51 {
53  planning_pipeline_->terminate();
54 }
55 
56 // Plan the arm movement to the approach location
57 bool PlanStage::evaluate(const ManipulationPlanPtr& plan) const
58 {
61  req.group_name = plan->shared_data_->planning_group_->getName();
62  req.num_planning_attempts = 1;
63  req.allowed_planning_time = (plan->shared_data_->timeout_ - ros::WallTime::now()).toSec();
64  req.path_constraints = plan->shared_data_->path_constraints_;
65  req.planner_id = plan->shared_data_->planner_id_;
66  req.start_state.is_diff = true;
67 
68  req.goal_constraints.resize(
69  1, kinematic_constraints::constructGoalConstraints(*plan->approach_state_, plan->shared_data_->planning_group_));
70  unsigned int attempts = 0;
71  do // give the planner two chances
72  {
73  attempts++;
74  if (!signal_stop_ && planning_pipeline_->generatePlan(planning_scene_, req, res) &&
75  res.error_code_.val == moveit_msgs::MoveItErrorCodes::SUCCESS && res.trajectory_ && !res.trajectory_->empty())
76  {
77  // We have a valid motion plan, now apply pre-approach end effector posture (open gripper) if applicable
78  if (!plan->approach_posture_.joint_names.empty())
79  {
80  robot_state::RobotStatePtr pre_approach_state(new robot_state::RobotState(res.trajectory_->getLastWayPoint()));
81  robot_trajectory::RobotTrajectoryPtr pre_approach_traj(new robot_trajectory::RobotTrajectory(
82  pre_approach_state->getRobotModel(), plan->shared_data_->end_effector_group_->getName()));
83  pre_approach_traj->setRobotTrajectoryMsg(*pre_approach_state, plan->approach_posture_);
84 
85  // Apply the open gripper state to the waypoint
86  // If user has defined a time for it's gripper movement time, don't add the
87  // DEFAULT_GRASP_POSTURE_COMPLETION_DURATION
88  if (plan->approach_posture_.points.size() > 0 &&
89  plan->approach_posture_.points.back().time_from_start > ros::Duration(0.0))
90  {
91  pre_approach_traj->addPrefixWayPoint(pre_approach_state, 0.0);
92  }
93  else
94  { // Do what was done before
95  pre_approach_traj->addPrefixWayPoint(pre_approach_state,
97  }
98 
99  // Add the open gripper trajectory to the plan
100  plan_execution::ExecutableTrajectory et(pre_approach_traj, "pre_grasp");
101  plan->trajectories_.insert(plan->trajectories_.begin(), et);
102  }
103 
104  // Add the pre-approach trajectory to the plan
106  plan->trajectories_.insert(plan->trajectories_.begin(), et);
107 
108  plan->error_code_ = res.error_code_;
109 
110  return true;
111  }
112  else
113  plan->error_code_ = res.error_code_;
114  }
115  // if the planner reported an invalid plan, give it a second chance
116  while (!signal_stop_ && plan->error_code_.val == moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN && attempts < 2);
117 
118  return false;
119 }
120 }
robot_trajectory::RobotTrajectoryPtr trajectory_
PlanStage(const planning_scene::PlanningSceneConstPtr &scene, const planning_pipeline::PlanningPipelinePtr &planning_pipeline)
Definition: plan_stage.cpp:44
planning_scene::PlanningSceneConstPtr planning_scene_
Definition: plan_stage.h:57
planning_pipeline::PlanningPipelinePtr planning_pipeline_
Definition: plan_stage.h:58
moveit_msgs::MoveItErrorCodes error_code_
moveit_msgs::Constraints constructGoalConstraints(const robot_state::RobotState &state, const robot_model::JointModelGroup *jmg, double tolerance_below, double tolerance_above)
virtual bool evaluate(const ManipulationPlanPtr &plan) const
Definition: plan_stage.cpp:57
moveit_msgs::MotionPlanRequest MotionPlanRequest
virtual void signalStop()
Definition: plan_stage.cpp:50
static WallTime now()
static const double DEFAULT_GRASP_POSTURE_COMPLETION_DURATION
Definition: pick_place.h:116


manipulation
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Sun Jan 21 2018 03:55:51