fix_workspace_bounds.cpp

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2012, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
/* Author: Ioan Sucan */
 
#include <moveit/planning_request_adapter/planning_request_adapter.h>
#include <class_loader/class_loader.hpp>
#include <ros/ros.h>
 
namespace default_planner_request_adapters
{
class FixWorkspaceBounds : public planning_request_adapter::PlanningRequestAdapter
{
public:
  static const std::string WBOUNDS_PARAM_NAME;
 
  FixWorkspaceBounds() : planning_request_adapter::PlanningRequestAdapter()
  {
  }
 
  void initialize(const ros::NodeHandle& nh) override
  {
    if (!nh.getParam(WBOUNDS_PARAM_NAME, workspace_extent_))
    {
      workspace_extent_ = 10.0;
      ROS_INFO_STREAM("Param '" << WBOUNDS_PARAM_NAME << "' was not set. Using default value: " << workspace_extent_);
    }
    else
      ROS_INFO_STREAM("Param '" << WBOUNDS_PARAM_NAME << "' was set to " << workspace_extent_);
    workspace_extent_ /= 2.0;
  }
 
  std::string getDescription() const override
  {
    return "Fix Workspace Bounds";
  }
 
  bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
                    const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
                    std::vector<std::size_t>& /*added_path_index*/) const override
  {
    ROS_DEBUG("Running '%s'", getDescription().c_str());
    const moveit_msgs::WorkspaceParameters& wparams = req.workspace_parameters;
    if (wparams.min_corner.x == wparams.max_corner.x && wparams.min_corner.x == 0.0 &&
        wparams.min_corner.y == wparams.max_corner.y && wparams.min_corner.y == 0.0 &&
        wparams.min_corner.z == wparams.max_corner.z && wparams.min_corner.z == 0.0)
    {
      ROS_DEBUG("It looks like the planning volume was not specified. Using default values.");
      planning_interface::MotionPlanRequest req2 = req;
      moveit_msgs::WorkspaceParameters& default_wp = req2.workspace_parameters;
      default_wp.min_corner.x = default_wp.min_corner.y = default_wp.min_corner.z = -workspace_extent_;
      default_wp.max_corner.x = default_wp.max_corner.y = default_wp.max_corner.z = workspace_extent_;
      return planner(planning_scene, req2, res);
    }
    else
      return planner(planning_scene, req, res);
  }
 
private:
  double workspace_extent_;
};
 
const std::string FixWorkspaceBounds::WBOUNDS_PARAM_NAME = "default_workspace_bounds";
}  // namespace default_planner_request_adapters
 
CLASS_LOADER_REGISTER_CLASS(default_planner_request_adapters::FixWorkspaceBounds,
                            planning_request_adapter::PlanningRequestAdapter);