move_group.cpp

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/* Author: Ioan Sucan */

#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <tf/transform_listener.h>
#include <moveit/move_group/capability_names.h>
#include <moveit/move_group/move_group_capability.h>
#include <boost/tokenizer.hpp>
#include <moveit/macros/console_colors.h>
#include <moveit/move_group/node_name.h>
#include <memory>
#include <set>

static const std::string ROBOT_DESCRIPTION =
    "robot_description";  // name of the robot description (a param name, so it can be changed externally)

namespace move_group
{
// These capabilities are loaded unless listed in disable_capabilities
// clang-format off
static const char* DEFAULT_CAPABILITIES[] = {
   "move_group/MoveGroupCartesianPathService",
   "move_group/MoveGroupKinematicsService",
   "move_group/MoveGroupExecuteTrajectoryAction",
   "move_group/MoveGroupMoveAction",
   "move_group/MoveGroupPickPlaceAction",
   "move_group/MoveGroupPlanService",
   "move_group/MoveGroupQueryPlannersService",
   "move_group/MoveGroupStateValidationService",
   "move_group/MoveGroupGetPlanningSceneService",
   "move_group/ApplyPlanningSceneService",
   "move_group/ClearOctomapService",
};
// clang-format on

class MoveGroupExe
{
public:
  MoveGroupExe(const planning_scene_monitor::PlanningSceneMonitorPtr& psm, bool debug) : node_handle_("~")
  {
    // if the user wants to be able to disable execution of paths, they can just set this ROS param to false
    bool allow_trajectory_execution;
    node_handle_.param("allow_trajectory_execution", allow_trajectory_execution, true);

    context_.reset(new MoveGroupContext(psm, allow_trajectory_execution, debug));

    // start the capabilities
    configureCapabilities();
  }

  ~MoveGroupExe()
  {
    capabilities_.clear();
    context_.reset();
    capability_plugin_loader_.reset();
  }

  void status()
  {
    if (context_)
    {
      if (context_->status())
      {
        if (capabilities_.empty())
          printf(MOVEIT_CONSOLE_COLOR_BLUE "\nmove_group is running but no capabilities are "
                                           "loaded.\n\n" MOVEIT_CONSOLE_COLOR_RESET);
        else
          printf(MOVEIT_CONSOLE_COLOR_GREEN "\nYou can start planning now!\n\n" MOVEIT_CONSOLE_COLOR_RESET);
        fflush(stdout);
      }
    }
    else
      ROS_ERROR("No MoveGroup context created. Nothing will work.");
  }

private:
  void configureCapabilities()
  {
    try
    {
      capability_plugin_loader_.reset(
          new pluginlib::ClassLoader<MoveGroupCapability>("moveit_ros_move_group", "move_group::MoveGroupCapability"));
    }
    catch (pluginlib::PluginlibException& ex)
    {
      ROS_FATAL_STREAM("Exception while creating plugin loader for move_group capabilities: " << ex.what());
      return;
    }

    std::set<std::string> capabilities;

    // add default capabilities
    for (size_t i = 0; i < sizeof(DEFAULT_CAPABILITIES) / sizeof(DEFAULT_CAPABILITIES[0]); ++i)
      capabilities.insert(DEFAULT_CAPABILITIES[i]);

    // add capabilities listed in ROS parameter
    std::string capability_plugins;
    if (node_handle_.getParam("capabilities", capability_plugins))
    {
      boost::char_separator<char> sep(" ");
      boost::tokenizer<boost::char_separator<char> > tok(capability_plugins, sep);
      capabilities.insert(tok.begin(), tok.end());
    }

    // drop capabilities that have been explicitly disabled
    if (node_handle_.getParam("disable_capabilities", capability_plugins))
    {
      boost::char_separator<char> sep(" ");
      boost::tokenizer<boost::char_separator<char> > tok(capability_plugins, sep);
      for (boost::tokenizer<boost::char_separator<char> >::iterator cap_name = tok.begin(); cap_name != tok.end();
           ++cap_name)
        capabilities.erase(*cap_name);
    }

    for (std::set<std::string>::iterator plugin = capabilities.cbegin(); plugin != capabilities.cend(); ++plugin)
    {
      try
      {
        printf(MOVEIT_CONSOLE_COLOR_CYAN "Loading '%s'...\n" MOVEIT_CONSOLE_COLOR_RESET, plugin->c_str());
        MoveGroupCapability* cap = capability_plugin_loader_->createUnmanagedInstance(*plugin);
        cap->setContext(context_);
        cap->initialize();
        capabilities_.push_back(MoveGroupCapabilityPtr(cap));
      }
      catch (pluginlib::PluginlibException& ex)
      {
        ROS_ERROR_STREAM("Exception while loading move_group capability '" << *plugin << "': " << ex.what());
      }
    }

    std::stringstream ss;
    ss << std::endl;
    ss << std::endl;
    ss << "********************************************************" << std::endl;
    ss << "* MoveGroup using: " << std::endl;
    for (std::size_t i = 0; i < capabilities_.size(); ++i)
      ss << "*     - " << capabilities_[i]->getName() << std::endl;
    ss << "********************************************************" << std::endl;
    ROS_INFO_STREAM(ss.str());
  }

  ros::NodeHandle node_handle_;
  MoveGroupContextPtr context_;
  std::shared_ptr<pluginlib::ClassLoader<MoveGroupCapability> > capability_plugin_loader_;
  std::vector<MoveGroupCapabilityPtr> capabilities_;
};
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, move_group::NODE_NAME);

  ros::AsyncSpinner spinner(1);
  spinner.start();

  boost::shared_ptr<tf::TransformListener> tf(new tf::TransformListener(ros::Duration(10.0)));

  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor(
      new planning_scene_monitor::PlanningSceneMonitor(ROBOT_DESCRIPTION, tf));

  if (planning_scene_monitor->getPlanningScene())
  {
    bool debug = false;
    for (int i = 1; i < argc; ++i)
      if (strncmp(argv[i], "--debug", 7) == 0)
      {
        debug = true;
        break;
      }
    if (debug)
      ROS_INFO("MoveGroup debug mode is ON");
    else
      ROS_INFO("MoveGroup debug mode is OFF");

    printf(MOVEIT_CONSOLE_COLOR_CYAN "Starting context monitors...\n" MOVEIT_CONSOLE_COLOR_RESET);
    planning_scene_monitor->startSceneMonitor();
    planning_scene_monitor->startWorldGeometryMonitor();
    planning_scene_monitor->startStateMonitor();
    printf(MOVEIT_CONSOLE_COLOR_CYAN "Context monitors started.\n" MOVEIT_CONSOLE_COLOR_RESET);

    move_group::MoveGroupExe mge(planning_scene_monitor, debug);

    planning_scene_monitor->publishDebugInformation(debug);

    mge.status();

    ros::waitForShutdown();
  }
  else
    ROS_ERROR("Planning scene not configured");

  return 0;
}