collision_proximity_server_test.cpp

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#include <ros/ros.h>
#include <collision_proximity/collision_proximity_space.h>
#include <planning_environment/models/model_utils.h>
#include <arm_navigation_msgs/GetMotionPlan.h>
#include <arm_navigation_msgs/GetStateValidity.h>

struct CollisionProximitySpacePlannerInterface
{
  CollisionProximitySpacePlannerInterface(const std::string& robot_description_name)
  {
    cps_ = new collision_proximity::CollisionProximitySpace(robot_description_name);
    
    ros::NodeHandle priv("~");

    motion_planning_service_ = priv.advertiseService("get_distance_aware_plan", &CollisionProximitySpacePlannerInterface::motionPlanCallback, this);

    get_state_validity_service_ = priv.advertiseService("get_state_validity", &CollisionProximitySpacePlannerInterface::getStateValidity, this);

    vis_marker_publisher_ = root_handle_.advertise<visualization_msgs::Marker>("collision_proximity_markers", 128);
    vis_marker_array_publisher_ = root_handle_.advertise<visualization_msgs::MarkerArray>("collision_proximity_markers_array", 128);

  }

  ~CollisionProximitySpacePlannerInterface()
  {
    delete cps_;
  }
  
  bool motionPlanCallback(arm_navigation_msgs::GetMotionPlan::Request &req,
                          arm_navigation_msgs::GetMotionPlan::Response &res)
  {
    if(!req.motion_plan_request.group_name.empty()) {
      ROS_INFO_STREAM("Setting up for group " << req.motion_plan_request.group_name);
      cps_->setupForGroupQueries(req.motion_plan_request.group_name,
                                 req.motion_plan_request.start_state,
                                 current_link_names_,
                                 current_attached_body_names_);
    } else {
      return false;
    }
    return true;
  }

  bool getStateValidity(arm_navigation_msgs::GetStateValidity::Request &req, 
                        arm_navigation_msgs::GetStateValidity::Response &res) 
  {
    cps_->getCollisionModelsInterface()->bodiesLock();
    if(!cps_->getCollisionModelsInterface()->isPlanningSceneSet()) {
      cps_->getCollisionModelsInterface()->bodiesUnlock();
      return true;
    }
    planning_environment::setRobotStateAndComputeTransforms(req.robot_state,
                                                            *cps_->getCollisionModelsInterface()->getPlanningSceneState());
    cps_->getCollisionModelsInterface()->bodiesUnlock();
    return true;
  }
  
  void broadcastCollisionMarkers() {
    cps_->getCollisionModelsInterface()->bodiesLock();
    if(!cps_->getCollisionModelsInterface()->isPlanningSceneSet() || cps_->getCurrentGroupName().empty()) {
      cps_->getCollisionModelsInterface()->bodiesUnlock();
      return;
    }
    cps_->setCurrentGroupState(*cps_->getCollisionModelsInterface()->getPlanningSceneState());
    std::vector<collision_proximity::GradientInfo> gradients;
    cps_->getStateGradients(gradients);

    visualization_msgs::MarkerArray arr;
    cps_->getProximityGradientMarkers(current_link_names_,
                                      current_attached_body_names_,
                                      gradients,
                                      "",
                                      arr);
    cps_->visualizeObjectSpheres(current_link_names_);
    vis_marker_array_publisher_.publish(arr);
    cps_->getCollisionModelsInterface()->bodiesUnlock();
  }

  std::vector<std::string> current_link_names_;
  std::vector<std::string> current_attached_body_names_;

  ros::NodeHandle root_handle_;
  ros::ServiceServer motion_planning_service_;
  ros::ServiceServer get_state_validity_service_;
  collision_proximity::CollisionProximitySpace* cps_;
  ros::Publisher vis_marker_publisher_;
  ros::Publisher vis_marker_array_publisher_;
};


int main(int argc, char** argv)
{
  ros::init(argc, argv, "collision_proximity_server_test");

  ros::AsyncSpinner spinner(1); 
  spinner.start();
 
  ros::NodeHandle nh;
  std::string robot_description_name = nh.resolveName("robot_description", true);

  CollisionProximitySpacePlannerInterface cps(robot_description_name);

  ros::Rate r(10.0);
  while(nh.ok()) {
    cps.broadcastCollisionMarkers();
    r.sleep();
  }
  ros::waitForShutdown();
  return 0;


}