00001 #include <ros/ros.h>
00002 #include <arm_navigation_msgs/GetPlanningScene.h>
00003 #include <planning_environment/models/collision_models.h>
00004
00005 static const std::string SET_PLANNING_SCENE_DIFF_NAME = "/environment_server/set_planning_scene_diff";
00006
00007 int main(int argc, char **argv){
00008 ros::init (argc, argv, "get_state_validity_test");
00009 ros::NodeHandle rh;
00010
00011 ros::Publisher vis_marker_publisher_;
00012 ros::Publisher vis_marker_array_publisher_;
00013
00014 vis_marker_publisher_ = rh.advertise<visualization_msgs::Marker>("state_validity_markers", 128);
00015 vis_marker_array_publisher_ = rh.advertise<visualization_msgs::MarkerArray>("state_validity_markers_array", 128);
00016
00017 ros::service::waitForService(SET_PLANNING_SCENE_DIFF_NAME);
00018 ros::ServiceClient get_planning_scene_client =
00019 rh.serviceClient<arm_navigation_msgs::GetPlanningScene>(SET_PLANNING_SCENE_DIFF_NAME);
00020
00021 arm_navigation_msgs::GetPlanningScene::Request planning_scene_req;
00022 arm_navigation_msgs::GetPlanningScene::Response planning_scene_res;
00023
00024 if(!get_planning_scene_client.call(planning_scene_req, planning_scene_res)) {
00025 ROS_WARN("Can't get planning scene");
00026 return -1;
00027 }
00028
00029 planning_environment::CollisionModels collision_models("robot_description");
00030 planning_models::KinematicState* state =
00031 collision_models.setPlanningScene(planning_scene_res.planning_scene);
00032
00033 std::vector<std::string> arm_names =
00034 collision_models.getKinematicModel()->getModelGroup("right_arm")->getUpdatedLinkModelNames();
00035 std::vector<std::string> joint_names =
00036 collision_models.getKinematicModel()->getModelGroup("right_arm")->getJointModelNames();
00037
00038 if(argc > 1) {
00039 std::stringstream s(argv[1]);
00040 double val;
00041 s >> val;
00042 std::map<std::string, double> nvalues;
00043 nvalues["r_shoulder_pan_joint"] = val;
00044
00045 state->setKinematicState(nvalues);
00046 }
00047
00048 std_msgs::ColorRGBA good_color, collision_color, joint_limits_color;
00049 good_color.a = collision_color.a = joint_limits_color.a = .8;
00050
00051 good_color.g = 1.0;
00052 collision_color.r = 1.0;
00053 joint_limits_color.b = 1.0;
00054
00055 std_msgs::ColorRGBA point_markers;
00056 point_markers.a = 1.0;
00057 point_markers.r = 1.0;
00058 point_markers.g = .8;
00059
00060 std_msgs::ColorRGBA color;
00061 visualization_msgs::MarkerArray arr;
00062 if(!state->areJointsWithinBounds(joint_names)) {
00063 color = joint_limits_color;
00064 } else if(collision_models.isKinematicStateInCollision(*state)) {
00065 color = collision_color;
00066 collision_models.getAllCollisionPointMarkers(*state,
00067 arr,
00068 point_markers,
00069 ros::Duration(0.2));
00070 } else {
00071 color = good_color;
00072 }
00073
00074 collision_models.getRobotMarkersGivenState(*state,
00075 arr,
00076 color,
00077 "right_arm",
00078 ros::Duration(0.2),
00079 &arm_names);
00080
00081 while(ros::ok()) {
00082 vis_marker_array_publisher_.publish(arr);
00083 ros::spinOnce();
00084 ros::Duration(.1).sleep();
00085 }
00086 collision_models.revertPlanningScene(state);
00087 ros::shutdown();
00088 }
