moveit_config_data.h

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/* Author: Dave Coleman */

#ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_TOOLS_MOVEIT_CONFIG_DATA_
#define MOVEIT_MOVEIT_SETUP_ASSISTANT_TOOLS_MOVEIT_CONFIG_DATA_

#include <boost/shared_ptr.hpp>
#include <srdfdom/model.h>        // use their struct datastructures
#include <srdfdom/srdf_writer.h>  // for writing srdf data
#include <urdf/model.h>           // to share throughout app
#include <yaml-cpp/yaml.h>        // outputing yaml config files
#include <moveit/macros/class_forward.h>
#include <moveit/planning_scene/planning_scene.h>                     // for getting kinematic model
#include <moveit/collision_detection/collision_matrix.h>              // for figuring out if robot is in collision
#include <moveit/setup_assistant/tools/compute_default_collisions.h>  // for LinkPairMap

namespace moveit_setup_assistant
{
// ******************************************************************************************
// Constants
// ******************************************************************************************

// Used for loading kinematic model
static const std::string ROBOT_DESCRIPTION = "robot_description";
static const std::string MOVEIT_ROBOT_STATE = "moveit_robot_state";

// Default kin solver values
static const double DEFAULT_KIN_SOLVER_SEARCH_RESOLUTION_ = 0.005;
static const double DEFAULT_KIN_SOLVER_TIMEOUT_ = 0.005;
static const int DEFAULT_KIN_SOLVER_ATTEMPTS_ = 3;

// ******************************************************************************************
// Structs
// ******************************************************************************************

struct GroupMetaData
{
  std::string kinematics_solver_;               // Name of kinematics plugin to use
  double kinematics_solver_search_resolution_;  // resolution to use with solver
  double kinematics_solver_timeout_;            // solver timeout
  int kinematics_solver_attempts_;              // solver attempts
  std::string default_planner_;                 // Name of the default planner to use
};

struct ROSControlConfig
{
  std::string name_;                 // controller name
  std::string type_;                 // controller type
  std::vector<std::string> joints_;  // joints controller by this controller
};

struct OmplPlanningParameter
{
  std::string name;     // name of parameter
  std::string value;    // value parameter will receive (but as a string)
  std::string comment;  // comment briefly describing what this parameter does
};

class OMPLPlannerDescription
{
public:
  OMPLPlannerDescription(const std::string& name, const std::string& type)
  {
    name_ = name;
    type_ = type;
  };
  ~OMPLPlannerDescription()
  {
    parameter_list_.clear();
  };
  void addParameter(const std::string& name, const std::string& value = "", const std::string& comment = "")
  {
    OmplPlanningParameter temp;
    temp.name = name;
    temp.value = value;
    temp.comment = comment;
    parameter_list_.push_back(temp);
  }
  std::vector<OmplPlanningParameter> parameter_list_;
  std::string name_;  // name of planner
  std::string type_;  // type of planner (geometric)
};

class GenericParameter
{
public:
  GenericParameter()
  {
    comment_ = "";
  };

  void setName(std::string name)
  {
    name_ = name;
  };
  void setValue(std::string value)
  {
    value_ = value;
  };
  void setComment(std::string comment)
  {
    comment_ = comment;
  };
  std::string getName()
  {
    return name_;
  };
  std::string getValue()
  {
    return value_;
  };
  std::string getComment()
  {
    return comment_;
  };

private:
  std::string name_;     // name of parameter
  std::string value_;    // value parameter will receive (but as a string)
  std::string comment_;  // comment briefly describing what this parameter does
};

MOVEIT_CLASS_FORWARD(MoveItConfigData);

class MoveItConfigData
{
public:
  MoveItConfigData();
  ~MoveItConfigData();

  // bits of information that can be entered in Setup Assistant
  enum InformationFields
  {
    COLLISIONS = 1 << 1,
    VIRTUAL_JOINTS = 1 << 2,
    GROUPS = 1 << 3,
    GROUP_CONTENTS = 1 << 4,
    GROUP_KINEMATICS = 1 << 5,
    POSES = 1 << 6,
    END_EFFECTORS = 1 << 7,
    PASSIVE_JOINTS = 1 << 8,
    AUTHOR_INFO = 1 << 9,
    SENSORS_CONFIG = 1 << 10,
    SRDF = COLLISIONS | VIRTUAL_JOINTS | GROUPS | GROUP_CONTENTS | POSES | END_EFFECTORS | PASSIVE_JOINTS
  };
  unsigned long changes;  // bitfield of changes (composed of InformationFields)

  // All of the data needed for creating a MoveIt! Configuration Files

  // ******************************************************************************************
  // URDF Data
  // ******************************************************************************************

  std::string urdf_path_;

  std::string urdf_pkg_name_;

  std::string urdf_pkg_relative_path_;

  bool urdf_from_xacro_;
  std::string xacro_args_;

  urdf::ModelSharedPtr urdf_model_;

  std::string urdf_string_;

  // ******************************************************************************************
  // SRDF Data
  // ******************************************************************************************

  std::string srdf_path_;

  std::string srdf_pkg_relative_path_;

  srdf::SRDFWriterPtr srdf_;

  // ******************************************************************************************
  // Other Data
  // ******************************************************************************************

  std::map<std::string, GroupMetaData> group_meta_data_;

  std::string setup_assistant_path_;

  std::string config_pkg_path_;

  std::string template_package_path_;

  bool debug_;

  collision_detection::AllowedCollisionMatrix allowed_collision_matrix_;

  std::time_t config_pkg_generated_timestamp_;

  std::string author_name_;

  std::string author_email_;

  // ******************************************************************************************
  // Public Functions
  // ******************************************************************************************

  void setRobotModel(robot_model::RobotModelPtr robot_model);

  robot_model::RobotModelConstPtr getRobotModel();

  void updateRobotModel();

  planning_scene::PlanningScenePtr getPlanningScene();

  srdf::Model::Group* findGroupByName(const std::string& name);

  void loadAllowedCollisionMatrix();

  // ******************************************************************************************
  // Public Functions for outputting configuration and setting files
  // ******************************************************************************************
  std::vector<OMPLPlannerDescription> getOMPLPlanners();
  bool outputSetupAssistantFile(const std::string& file_path);
  bool outputOMPLPlanningYAML(const std::string& file_path);
  bool outputCHOMPPlanningYAML(const std::string& file_path);
  bool outputKinematicsYAML(const std::string& file_path);
  bool outputJointLimitsYAML(const std::string& file_path);
  bool outputFakeControllersYAML(const std::string& file_path);

  void outputFollowJointTrajectoryYAML(YAML::Emitter& emitter,
                                       std::vector<ROSControlConfig>& ros_controllers_config_output);

  bool outputROSControllersYAML(const std::string& file_path);
  bool output3DSensorPluginYAML(const std::string& file_path);

  std::string getJointHardwareInterface(const std::string& joint_name);

  std::string getGazeboCompatibleURDF();

  void setCollisionLinkPairs(const moveit_setup_assistant::LinkPairMap& link_pairs, size_t skip_mask = 0);

  std::string decideProjectionJoints(std::string planning_group);

  bool inputOMPLYAML(const std::string& file_path);

  bool inputKinematicsYAML(const std::string& file_path);

  bool parseROSController(const YAML::Node& controller);

  bool processROSControllers(std::ifstream& input_stream);

  bool inputROSControllersYAML(const std::string& file_path);

  bool addDefaultControllers();

  bool setPackagePath(const std::string& pkg_path);

  bool getSetupAssistantYAMLPath(std::string& path);

  bool createFullURDFPath();

  bool createFullSRDFPath(const std::string& package_path);

  bool inputSetupAssistantYAML(const std::string& file_path);

  bool input3DSensorsYAML(const std::string& default_file_path, const std::string& file_path = "");

  std::string appendPaths(const std::string& path1, const std::string& path2);

  bool addROSController(const ROSControlConfig& new_controller);

  std::vector<ROSControlConfig>& getROSControllers();

  ROSControlConfig* findROSControllerByName(const std::string& controller_name);

  bool deleteROSController(const std::string& controller_name);

  void addGenericParameterToSensorPluginConfig(const std::string& name, const std::string& value = "",
                                               const std::string& comment = "");

  void clearSensorPluginConfig();

  std::vector<std::map<std::string, GenericParameter> > getSensorPluginConfig();

  struct joint_model_compare
  {
    bool operator()(const robot_model::JointModel* jm1, const robot_model::JointModel* jm2) const
    {
      return jm1->getName() < jm2->getName();
    }
  };

private:
  // ******************************************************************************************
  // Private Vars
  // ******************************************************************************************

  std::vector<std::map<std::string, GenericParameter> > sensors_plugin_config_parameter_list_;

  robot_model::RobotModelPtr robot_model_;

  std::vector<ROSControlConfig> ros_controllers_config_;

  planning_scene::PlanningScenePtr planning_scene_;
};

}  // namespace

#endif