pr2_ompl_planning_tests: call_benchmark.cpp Source File

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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <planning_scene_monitor/planning_scene_monitor.h>
00038 #include <ompl_interface_ros/ompl_interface_ros.h>
00039 #include <moveit_msgs/ComputePlanningBenchmark.h>
00040 #include <kinematic_constraints/utils.h>
00041 
00042 static const std::string PLANNER_SERVICE_NAME="/ompl_planning/benchmark_planning_problem";
00043 static const std::string ROBOT_DESCRIPTION="robot_description";
00044 
00045 void benchmarkSimplePlan(const std::string &config)
00046 {
00047     ros::NodeHandle nh;
00048     ros::service::waitForService(PLANNER_SERVICE_NAME);
00049     ros::ServiceClient benchmark_service_client = nh.serviceClient<moveit_msgs::ComputePlanningBenchmark>(PLANNER_SERVICE_NAME);
00050 
00051     moveit_msgs::ComputePlanningBenchmark::Request mplan_req;
00052     moveit_msgs::ComputePlanningBenchmark::Response mplan_res;
00053 
00054     planning_scene_monitor::PlanningSceneMonitor psm(ROBOT_DESCRIPTION);
00055     planning_scene::PlanningScene &scene = *psm.getPlanningScene();
00056 
00057     mplan_req.motion_plan_request.num_planning_attempts = 50;
00058     mplan_req.motion_plan_request.planner_id = config;
00059     mplan_req.motion_plan_request.group_name = "right_arm";
00060     mplan_req.motion_plan_request.allowed_planning_time = ros::Duration(5.0);
00061     const std::vector<std::string>& joint_names = scene.getRobotModel()->getJointModelGroup("right_arm")->getJointModelNames();
00062     mplan_req.motion_plan_request.goal_constraints.resize(1);
00063     mplan_req.motion_plan_request.goal_constraints[0].joint_constraints.resize(joint_names.size());
00064     for(unsigned int i = 0; i < joint_names.size(); i++)
00065     {
00066         mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[i].joint_name = joint_names[i];
00067         mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[i].position = 0.0;
00068         mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[i].tolerance_above = 0.001;
00069         mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[i].tolerance_below = 0.001;
00070         mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[i].weight = 1.0;
00071     }
00072     mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[0].position = -2.0;
00073     mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[3].position = -.2;
00074     mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[5].position = -.2;
00075 
00076     benchmark_service_client.call(mplan_req, mplan_res);
00077 }
00078 
00079 void benchmarkPathConstrained(const std::string &config)
00080 {
00081   ros::NodeHandle nh;
00082   ros::service::waitForService(PLANNER_SERVICE_NAME);
00083   ros::ServiceClient benchmark_service_client = nh.serviceClient<moveit_msgs::ComputePlanningBenchmark>(PLANNER_SERVICE_NAME);
00084 
00085   moveit_msgs::ComputePlanningBenchmark::Request mplan_req;
00086   moveit_msgs::ComputePlanningBenchmark::Response mplan_res;
00087 
00088   planning_scene_monitor::PlanningSceneMonitor psm(ROBOT_DESCRIPTION);
00089   planning_scene::PlanningScene &scene = *psm.getPlanningScene();
00090 
00091   mplan_req.motion_plan_request.num_planning_attempts = 50;
00092   mplan_req.motion_plan_request.planner_id = config;
00093   mplan_req.motion_plan_request.group_name = "right_arm";
00094 
00095   mplan_req.motion_plan_request.allowed_planning_time = ros::Duration(15.0);
00096   const std::vector<std::string>& joint_names = scene.getRobotModel()->getJointModelGroup("right_arm")->getJointModelNames();
00097   mplan_req.motion_plan_request.goal_constraints.resize(1);
00098   mplan_req.motion_plan_request.goal_constraints[0].joint_constraints.resize(joint_names.size());
00099 
00100   for(unsigned int i = 0; i < joint_names.size(); i++)
00101   {
00102     mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[i].joint_name = joint_names[i];
00103     mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[i].position = 0.0;
00104     mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[i].tolerance_above = 1e-12;
00105     mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[i].tolerance_below = 1e-12;
00106     mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[i].weight = 1.0;
00107   }
00108 
00109   mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[0].position = -0.30826385287398406;
00110   mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[1].position = 0.61185361475247468;
00111   mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[2].position = -0.67790861269459102;
00112   mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[3].position = -1.0372591097007691;
00113   mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[4].position = -0.89601966543848288;
00114   mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[5].position = -1.9776217463278662;
00115   mplan_req.motion_plan_request.goal_constraints[0].joint_constraints[6].position = 1.8552611548679128;
00116 
00117 
00118 
00119   mplan_req.motion_plan_request.start_state.joint_state.name = joint_names;
00120   mplan_req.motion_plan_request.start_state.joint_state.position.push_back(-1.21044517893021499);
00121   mplan_req.motion_plan_request.start_state.joint_state.position.push_back(0.038959594993384528);
00122   mplan_req.motion_plan_request.start_state.joint_state.position.push_back(-0.81412902362644646);
00123   mplan_req.motion_plan_request.start_state.joint_state.position.push_back(-1.0989597173881371);
00124   mplan_req.motion_plan_request.start_state.joint_state.position.push_back(2.3582101183671629);
00125   mplan_req.motion_plan_request.start_state.joint_state.position.push_back(-1.993988668449755);
00126   mplan_req.motion_plan_request.start_state.joint_state.position.push_back(-2.2779628049776051);
00127 
00128 
00129 
00130 
00131   // add path constraints
00132   moveit_msgs::Constraints &constr = mplan_req.motion_plan_request.path_constraints;
00133   constr.orientation_constraints.resize(1);
00134   moveit_msgs::OrientationConstraint &ocm = constr.orientation_constraints[0];
00135   ocm.link_name = "r_wrist_roll_link";
00136   ocm.header.frame_id = psm.getPlanningScene()->getPlanningFrame();
00137   ocm.orientation.x = 0.0;
00138   ocm.orientation.y = 0.0;
00139   ocm.orientation.z = 0.0;
00140   ocm.orientation.w = 1.0;
00141   ocm.absolute_x_axis_tolerance = 0.1;
00142   ocm.absolute_y_axis_tolerance = 0.1;
00143   ocm.absolute_z_axis_tolerance = M_PI;
00144   ocm.weight = 1.0;
00145 
00146   benchmark_service_client.call(mplan_req, mplan_res);
00147 }
00148 
00149 int main(int argc, char **argv)
00150 {
00151   ros::init(argc, argv, "call_ompl_planning", ros::init_options::AnonymousName);
00152   ros::AsyncSpinner spinner(1);
00153   spinner.start();
00154 
00155   benchmarkPathConstrained("SBLkConfigDefault");
00156   benchmarkPathConstrained("ESTkConfigDefault");
00157   benchmarkPathConstrained("BKPIECEkConfigDefault");
00158   benchmarkPathConstrained("LBKPIECEkConfigDefault");
00159   benchmarkPathConstrained("KPIECEkConfigDefault");
00160   benchmarkPathConstrained("RRTkConfigDefault");
00161   benchmarkPathConstrained("RRTConnectkConfigDefault");
00162 
00163   /*
00164   benchmarkSimplePlan("SBLkConfigDefault");
00165   benchmarkSimplePlan("ESTkConfigDefault");
00166   benchmarkSimplePlan("BKPIECEkConfigDefault");
00167   benchmarkSimplePlan("LBKPIECEkConfigDefault");
00168   benchmarkSimplePlan("KPIECEkConfigDefault");
00169   benchmarkSimplePlan("RRTkConfigDefault");
00170   benchmarkSimplePlan("RRTConnectkConfigDefault");
00171 */
00172   //  benchmarkSimplePlan("KPIECEkConfigDefault");
00173   /*
00174   benchmarkSimplePlan("ESTkConfigDefault");
00175   benchmarkSimplePlan("BKPIECEkConfigDefault");
00176   benchmarkSimplePlan("LBKPIECEkConfigDefault");
00177   benchmarkSimplePlan("RRTkConfigDefault");
00178   */
00179   return 0;
00180 }