initialize_demo_db.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <moveit/warehouse/planning_scene_storage.h>
00038 #include <moveit/warehouse/constraints_storage.h>
00039 #include <moveit/warehouse/state_storage.h>
00040 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
00041 #include <moveit/robot_state/conversions.h>
00042 #include <moveit/kinematic_constraints/utils.h>
00043 #include <boost/algorithm/string/join.hpp>
00044 #include <boost/program_options/cmdline.hpp>
00045 #include <boost/program_options/options_description.hpp>
00046 #include <boost/program_options/parsers.hpp>
00047 #include <boost/program_options/variables_map.hpp>
00048 #include <boost/math/constants/constants.hpp>
00049 #include <ros/ros.h>
00050 
00051 static const std::string ROBOT_DESCRIPTION="robot_description";
00052 
00053 int main(int argc, char **argv)
00054 {
00055   ros::init(argc, argv, "initialize_demo_db", ros::init_options::AnonymousName);
00056 
00057   boost::program_options::options_description desc;
00058   desc.add_options()
00059     ("help", "Show help message")
00060     ("host", boost::program_options::value<std::string>(), "Host for the MongoDB.")
00061     ("port", boost::program_options::value<std::size_t>(), "Port for the MongoDB.");
00062 
00063   boost::program_options::variables_map vm;
00064   boost::program_options::store(boost::program_options::parse_command_line(argc, argv, desc), vm);
00065   boost::program_options::notify(vm);
00066 
00067   if (vm.count("help"))
00068   {
00069     std::cout << desc << std::endl;
00070     return 1;
00071   }
00072 
00073   ros::AsyncSpinner spinner(1);
00074   spinner.start();
00075 
00076   ros::NodeHandle nh;
00077   planning_scene_monitor::PlanningSceneMonitor psm(ROBOT_DESCRIPTION);
00078   if (!psm.getPlanningScene())
00079   {
00080     ROS_ERROR("Unable to initialize PlanningSceneMonitor");
00081     return 1;
00082   }
00083 
00084   bool done = false;
00085   unsigned int attempts = 0;
00086   while (!done && attempts < 5)
00087   {
00088     attempts++;
00089     try
00090     {
00091       moveit_warehouse::PlanningSceneStorage pss(vm.count("host") ? vm["host"].as<std::string>() : "",
00092                                                  vm.count("port") ? vm["port"].as<std::size_t>() : 0);
00093       moveit_warehouse::ConstraintsStorage cs(vm.count("host") ? vm["host"].as<std::string>() : "",
00094                                               vm.count("port") ? vm["port"].as<std::size_t>() : 0);
00095       moveit_warehouse::RobotStateStorage rs(vm.count("host") ? vm["host"].as<std::string>() : "",
00096                                              vm.count("port") ? vm["port"].as<std::size_t>() : 0);
00097       pss.reset();
00098       cs.reset();
00099       rs.reset();
00100 
00101       // add default planning scenes
00102       moveit_msgs::PlanningScene psmsg;
00103       psm.getPlanningScene()->getPlanningSceneMsg(psmsg);
00104       psmsg.name = "default";
00105       pss.addPlanningScene(psmsg);
00106       ROS_INFO("Added default scene: '%s'", psmsg.name.c_str());
00107 
00108       moveit_msgs::RobotState rsmsg;
00109       robot_state::robotStateToRobotStateMsg(psm.getPlanningScene()->getCurrentState(), rsmsg);
00110       rs.addRobotState(rsmsg, "default");
00111       ROS_INFO("Added default state");
00112 
00113       const std::vector<std::string> &gnames = psm.getRobotModel()->getJointModelGroupNames();
00114       for (std::size_t i = 0 ; i < gnames.size() ; ++i)
00115       {
00116         const robot_model::JointModelGroup *jmg = psm.getRobotModel()->getJointModelGroup(gnames[i]);
00117         if (!jmg->isChain())
00118           continue;
00119         const std::vector<std::string> &lnames = jmg->getLinkModelNames();
00120         if (lnames.empty())
00121           continue;
00122 
00123         moveit_msgs::OrientationConstraint ocm;
00124         ocm.link_name = lnames.back();
00125         ocm.header.frame_id = psm.getRobotModel()->getModelFrame();
00126         ocm.orientation.x = 0.0;
00127         ocm.orientation.y = 0.0;
00128     ocm.orientation.z = 0.0;
00129     ocm.orientation.w = 1.0;
00130         ocm.absolute_x_axis_tolerance = 0.1;
00131         ocm.absolute_y_axis_tolerance = 0.1;
00132         ocm.absolute_z_axis_tolerance = boost::math::constants::pi<double>();
00133         ocm.weight = 1.0;
00134         moveit_msgs::Constraints cmsg;
00135         cmsg.orientation_constraints.resize(1, ocm);
00136         cmsg.name = ocm.link_name + ":upright";
00137         cs.addConstraints(cmsg, psm.getRobotModel()->getName(), jmg->getName());
00138         ROS_INFO("Added default constraint: '%s'", cmsg.name.c_str());
00139       }
00140       done = true;
00141       ROS_INFO("Default MoveIt! Warehouse was reset. Done.");
00142     }
00143     catch(mongo_ros::DbConnectException &ex)
00144     {
00145       ROS_WARN("MongoDB does not appear to be initialized yet. Waiting for a few seconds before trying again ...");
00146       ros::WallDuration(15.0).sleep();
00147     }
00148   }
00149 
00150   ros::shutdown();
00151 
00152   return 0;
00153 }


warehouse
Author(s): Ioan Sucan
autogenerated on Wed Aug 26 2015 12:43:45