chomp_planner.cpp
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00034 
00035 /* Author: E. Gil Jones */
00036 
00037 #include <ros/ros.h>
00038 #include <chomp_motion_planner/chomp_planner.h>
00039 #include <chomp_motion_planner/chomp_trajectory.h>
00040 #include <chomp_motion_planner/chomp_optimizer.h>
00041 #include <moveit/robot_state/conversions.h>
00042 #include <moveit_msgs/MotionPlanRequest.h>
00043 
00044 namespace chomp
00045 {
00046 ChompPlanner::ChompPlanner()
00047 {
00048 }
00049 
00050 bool ChompPlanner::solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
00051                          const moveit_msgs::MotionPlanRequest& req, const chomp::ChompParameters& params,
00052                          moveit_msgs::MotionPlanDetailedResponse& res) const
00053 {
00054   if (!planning_scene)
00055     ROS_ERROR_STREAM("No planning scene initialized.");
00056   else
00057   {
00058     ROS_INFO_STREAM("Planning scene is configured. Beginning to plan.");
00059   }
00060   ros::WallTime start_time = ros::WallTime::now();
00061   ChompTrajectory trajectory(planning_scene->getRobotModel(), 3.0, .03, req.group_name);
00062   jointStateToArray(planning_scene->getRobotModel(), req.start_state.joint_state, req.group_name,
00063                     trajectory.getTrajectoryPoint(0));
00064 
00065   int goal_index = trajectory.getNumPoints() - 1;
00066   trajectory.getTrajectoryPoint(goal_index) = trajectory.getTrajectoryPoint(0);
00067   sensor_msgs::JointState js;
00068   for (unsigned int i = 0; i < req.goal_constraints[0].joint_constraints.size(); i++)
00069   {
00070     js.name.push_back(req.goal_constraints[0].joint_constraints[i].joint_name);
00071     js.position.push_back(req.goal_constraints[0].joint_constraints[i].position);
00072     ROS_INFO_STREAM("Setting joint " << req.goal_constraints[0].joint_constraints[i].joint_name << " to position "
00073                                      << req.goal_constraints[0].joint_constraints[i].position);
00074   }
00075   jointStateToArray(planning_scene->getRobotModel(), js, req.group_name, trajectory.getTrajectoryPoint(goal_index));
00076 
00077   const moveit::core::JointModelGroup* model_group =
00078       planning_scene->getRobotModel()->getJointModelGroup(req.group_name);
00079   // fix the goal to move the shortest angular distance for wrap-around joints:
00080   for (size_t i = 0; i < model_group->getActiveJointModels().size(); i++)
00081   {
00082     const moveit::core::JointModel* model = model_group->getActiveJointModels()[i];
00083     const moveit::core::RevoluteJointModel* revolute_joint =
00084         dynamic_cast<const moveit::core::RevoluteJointModel*>(model);
00085 
00086     if (revolute_joint != NULL)
00087     {
00088       if (revolute_joint->isContinuous())
00089       {
00090         double start = (trajectory)(0, i);
00091         double end = (trajectory)(goal_index, i);
00092         ROS_INFO_STREAM("Start is " << start << " end " << end << " short " << shortestAngularDistance(start, end));
00093         (trajectory)(goal_index, i) = start + shortestAngularDistance(start, end);
00094       }
00095     }
00096   }
00097 
00098   // fill in an initial quintic spline trajectory
00099   trajectory.fillInMinJerk();
00100 
00101   // optimize!
00102   moveit::core::RobotState start_state(planning_scene->getCurrentState());
00103   moveit::core::robotStateMsgToRobotState(req.start_state, start_state);
00104   start_state.update();
00105 
00106   ros::WallTime create_time = ros::WallTime::now();
00107   ChompOptimizer optimizer(&trajectory, planning_scene, req.group_name, &params, start_state);
00108   if (!optimizer.isInitialized())
00109   {
00110     ROS_WARN_STREAM("Could not initialize optimizer");
00111     res.error_code.val = moveit_msgs::MoveItErrorCodes::PLANNING_FAILED;
00112     return false;
00113   }
00114   ROS_INFO("Optimization took %f sec to create", (ros::WallTime::now() - create_time).toSec());
00115   optimizer.optimize();
00116   ROS_INFO("Optimization actually took %f sec to run", (ros::WallTime::now() - create_time).toSec());
00117   create_time = ros::WallTime::now();
00118   // assume that the trajectory is now optimized, fill in the output structure:
00119 
00120   ROS_INFO("Output trajectory has %d joints", trajectory.getNumJoints());
00121 
00122   res.trajectory.resize(1);
00123 
00124   for (size_t i = 0; i < model_group->getActiveJointModels().size(); i++)
00125   {
00126     res.trajectory[0].joint_trajectory.joint_names.push_back(model_group->getActiveJointModels()[i]->getName());
00127   }
00128 
00129   res.trajectory[0].joint_trajectory.header = req.start_state.joint_state.header;  // @TODO this is probably a hack
00130 
00131   // fill in the entire trajectory
00132   res.trajectory[0].joint_trajectory.points.resize(trajectory.getNumPoints());
00133   for (int i = 0; i < trajectory.getNumPoints(); i++)
00134   {
00135     res.trajectory[0].joint_trajectory.points[i].positions.resize(trajectory.getNumJoints());
00136     for (size_t j = 0; j < res.trajectory[0].joint_trajectory.points[i].positions.size(); j++)
00137     {
00138       res.trajectory[0].joint_trajectory.points[i].positions[j] = trajectory.getTrajectoryPoint(i)(j);
00139       if (i == trajectory.getNumPoints() - 1)
00140       {
00141         ROS_INFO_STREAM("Joint " << j << " " << res.trajectory[0].joint_trajectory.points[i].positions[j]);
00142       }
00143     }
00144     // Setting invalid timestamps.
00145     // Further filtering is required to set valid timestamps accounting for velocity and acceleration constraints.
00146     res.trajectory[0].joint_trajectory.points[i].time_from_start = ros::Duration(0.0);
00147   }
00148 
00149   ROS_INFO("Bottom took %f sec to create", (ros::WallTime::now() - create_time).toSec());
00150   ROS_INFO("Serviced planning request in %f wall-seconds, trajectory duration is %f",
00151            (ros::WallTime::now() - start_time).toSec(),
00152            res.trajectory[0].joint_trajectory.points[goal_index].time_from_start.toSec());
00153   res.error_code.val = moveit_msgs::MoveItErrorCodes::SUCCESS;
00154   res.processing_time.push_back((ros::WallTime::now() - start_time).toSec());
00155   return true;
00156 }
00157 }


chomp_motion_planner
Author(s): Gil Jones , Mrinal Kalakrishnan
autogenerated on Wed Jun 19 2019 19:24:07