pick_place.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 the 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/pick_place/pick_place.h>
#include <moveit/robot_state/conversions.h>
#include <moveit_msgs/DisplayTrajectory.h>
#include <visualization_msgs/MarkerArray.h>
#include <eigen_conversions/eigen_msg.h>
#include <ros/console.h>

namespace pick_place
{

const std::string PickPlace::DISPLAY_PATH_TOPIC = planning_pipeline::PlanningPipeline::DISPLAY_PATH_TOPIC;
const std::string PickPlace::DISPLAY_GRASP_TOPIC = "display_grasp_markers";
const double PickPlace::DEFAULT_GRASP_POSTURE_COMPLETION_DURATION = 7.0; // seconds

// functionality specific to pick-only is in pick.cpp;
// functionality specific to place-only is in place.cpp;

PickPlacePlanBase::PickPlacePlanBase(const PickPlaceConstPtr &pick_place, const std::string &name) :
  pick_place_(pick_place),
  pipeline_(name, 4),
  last_plan_time_(0.0),
  done_(false)
{
  pipeline_.setSolutionCallback(boost::bind(&PickPlacePlanBase::foundSolution, this));
  pipeline_.setEmptyQueueCallback(boost::bind(&PickPlacePlanBase::emptyQueue, this));
}

PickPlacePlanBase::~PickPlacePlanBase()
{
}

void PickPlacePlanBase::foundSolution()
{
  boost::mutex::scoped_lock slock(done_mutex_);
  done_ = true;
  done_condition_.notify_all();
}

void PickPlacePlanBase::emptyQueue()
{
  boost::mutex::scoped_lock slock(done_mutex_);
  if (pushed_all_poses_)
  {
    done_ = true;
    done_condition_.notify_all();
  }
}

void PickPlacePlanBase::initialize()
{
  done_ = false;
  pushed_all_poses_ = false;
}

void PickPlacePlanBase::waitForPipeline(const ros::WallTime &endtime)
{
  // wait till we're done
  boost::unique_lock<boost::mutex> lock(done_mutex_);
  pushed_all_poses_ = true;
  while (!done_ && endtime > ros::WallTime::now())
    done_condition_.timed_wait(lock, (endtime - ros::WallTime::now()).toBoost());
}

PickPlace::PickPlace(const planning_pipeline::PlanningPipelinePtr &planning_pipeline) :
  nh_("~"),
  planning_pipeline_(planning_pipeline),
  display_computed_motion_plans_(false),
  display_grasps_(false)
{
  constraint_sampler_manager_loader_.reset(new constraint_sampler_manager_loader::ConstraintSamplerManagerLoader());
}

void PickPlace::displayProcessedGrasps(bool flag)
{
  if (display_grasps_ && !flag)
    grasps_publisher_.shutdown();
  else
    if (!display_grasps_ && flag)
      grasps_publisher_ = nh_.advertise<visualization_msgs::MarkerArray>(DISPLAY_GRASP_TOPIC, 10, true);
  display_grasps_ = flag;
}

void PickPlace::displayComputedMotionPlans(bool flag)
{
  if (display_computed_motion_plans_ && !flag)
    display_path_publisher_.shutdown();
  else
    if (!display_computed_motion_plans_ && flag)
      display_path_publisher_ = nh_.advertise<moveit_msgs::DisplayTrajectory>(DISPLAY_PATH_TOPIC, 10, true);
  display_computed_motion_plans_ = flag;
}

void PickPlace::visualizePlan(const ManipulationPlanPtr &plan) const
{
  moveit_msgs::DisplayTrajectory dtraj;
  dtraj.model_id = getRobotModel()->getName();
  bool first = true;
  for (std::size_t i = 0 ; i < plan->trajectories_.size() ; ++i)
  {
    if (!plan->trajectories_[i].trajectory_ || plan->trajectories_[i].trajectory_->empty())
      continue;
    if (first)
    {
      robot_state::robotStateToRobotStateMsg(plan->trajectories_[i].trajectory_->getFirstWayPoint(), dtraj.trajectory_start);
      first = false;
    }
    dtraj.trajectory.resize(dtraj.trajectory.size() + 1);
    plan->trajectories_[i].trajectory_->getRobotTrajectoryMsg(dtraj.trajectory.back());
  }
  display_path_publisher_.publish(dtraj);
}

void PickPlace::visualizeGrasp(const ManipulationPlanPtr &plan) const
{
  visualizeGrasps(std::vector<ManipulationPlanPtr>(1, plan));
}

namespace
{

std::vector<std_msgs::ColorRGBA> setupDefaultGraspColors()
{
  std::vector<std_msgs::ColorRGBA> result;
  result.resize(6);
  result[0].r = 0.5f; result[0].g = 0.5f; result[0].b = 0.5f; result[0].a = 1.0f;
  result[1].r = 1.0f; result[1].g = 0.0f; result[1].b = 0.0f; result[1].a = 1.0f;
  result[2].r = 1.0f; result[2].g = 0.5f; result[2].b = 0.0f; result[2].a = 1.0f;
  result[3].r = 0.0f; result[3].g = 1.0f; result[3].b = 1.0f; result[3].a = 1.0f;
  result[4].r = 0.0f; result[4].g = 1.0f; result[4].b = 0.0f; result[4].a = 1.0f;
  result[5].r = 1.0f; result[5].g = 0.0f; result[5].b = 1.0f; result[5].a = 0.75f;
  return result;
}

}

void PickPlace::visualizeGrasps(const std::vector<ManipulationPlanPtr>& plans) const
{
  if (plans.empty())
    return;

  robot_state::RobotState state(getRobotModel());
  state.setToDefaultValues();

  static std::vector<std_msgs::ColorRGBA> colors(setupDefaultGraspColors());
  visualization_msgs::MarkerArray ma;
  for (std::size_t i = 0 ; i < plans.size() ; ++i)
  {
    const robot_model::JointModelGroup *jmg = getRobotModel()->getJointModelGroup(plans[i]->shared_data_->end_effector_group_);
    if (jmg)
    {
      unsigned int type = std::min(plans[i]->processing_stage_, colors.size() - 1);
      state.updateStateWithLinkAt(plans[i]->shared_data_->ik_link_name_, plans[i]->transformed_goal_pose_);
      state.getRobotMarkers(ma, jmg->getLinkModelNames(), colors[type], "moveit_grasps:stage_" + boost::lexical_cast<std::string>(plans[i]->processing_stage_), ros::Duration(60));
    }
  }

  grasps_publisher_.publish(ma);
}

}