move_group_interface.h

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/* Author: Ioan Sucan, Sachin Chitta */
 
#pragma once
 
#include <moveit/macros/class_forward.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/utils/moveit_error_code.h>
#include <moveit_msgs/RobotTrajectory.h>
#include <moveit_msgs/RobotState.h>
#include <moveit_msgs/PlannerInterfaceDescription.h>
#include <moveit_msgs/Constraints.h>
#include <moveit_msgs/Grasp.h>
#include <moveit_msgs/PlaceLocation.h>
#include <moveit_msgs/PickupGoal.h>
#include <moveit_msgs/PlaceGoal.h>
#include <moveit_msgs/MotionPlanRequest.h>
#include <moveit_msgs/MoveGroupAction.h>
#include <geometry_msgs/PoseStamped.h>
#include <actionlib/client/simple_action_client.h>
#include <memory>
#include <utility>
#include <tf2_ros/buffer.h>
 
namespace moveit
{
namespace planning_interface
{
using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode;
 
MOVEIT_CLASS_FORWARD(MoveGroupInterface);  // Defines MoveGroupInterfacePtr, ConstPtr, WeakPtr... etc
 
class MoveGroupInterface
{
public:
  static constexpr double DEFAULT_GOAL_JOINT_TOLERANCE = 1e-4;
 
  static constexpr double DEFAULT_GOAL_POSITION_TOLERANCE = 1e-4;
 
  static constexpr double DEFAULT_GOAL_ORIENTATION_TOLERANCE = 1e-3;
 
  static constexpr double DEFAULT_ALLOWED_PLANNING_TIME = 5.0;
 
  static constexpr int DEFAULT_NUM_PLANNING_ATTEMPTS = 1;
 
  static const std::string ROBOT_DESCRIPTION;
 
  struct Options
  {
    Options(std::string group_name, std::string desc = ROBOT_DESCRIPTION,
            const ros::NodeHandle& node_handle = ros::NodeHandle())
      : group_name_(std::move(group_name)), robot_description_(std::move(desc)), node_handle_(node_handle)
    {
    }
 
    std::string group_name_;
 
    std::string robot_description_;
 
    moveit::core::RobotModelConstPtr robot_model_;
 
    ros::NodeHandle node_handle_;
  };
 
  MOVEIT_STRUCT_FORWARD(Plan);
 
  struct Plan
  {
    moveit_msgs::RobotState start_state_;
 
    moveit_msgs::RobotTrajectory trajectory_;
 
    double planning_time_;
  };
 
  MoveGroupInterface(const Options& opt,
                     const std::shared_ptr<tf2_ros::Buffer>& tf_buffer = std::shared_ptr<tf2_ros::Buffer>(),
                     const ros::WallDuration& wait_for_servers = ros::WallDuration());
  [[deprecated]] MoveGroupInterface(const Options& opt, const std::shared_ptr<tf2_ros::Buffer>& tf_buffer,
                                    const ros::Duration& wait_for_servers);
 
  MoveGroupInterface(const std::string& group,
                     const std::shared_ptr<tf2_ros::Buffer>& tf_buffer = std::shared_ptr<tf2_ros::Buffer>(),
                     const ros::WallDuration& wait_for_servers = ros::WallDuration());
  [[deprecated]] MoveGroupInterface(const std::string& group, const std::shared_ptr<tf2_ros::Buffer>& tf_buffer,
                                    const ros::Duration& wait_for_servers);
 
  ~MoveGroupInterface();
 
  MoveGroupInterface(const MoveGroupInterface&) = delete;
  MoveGroupInterface& operator=(const MoveGroupInterface&) = delete;
 
  MoveGroupInterface(MoveGroupInterface&& other) noexcept;
  MoveGroupInterface& operator=(MoveGroupInterface&& other) noexcept;
  const std::string& getName() const;
 
  const std::vector<std::string>& getNamedTargets() const;
 
  moveit::core::RobotModelConstPtr getRobotModel() const;
 
  const ros::NodeHandle& getNodeHandle() const;
 
  const std::string& getPlanningFrame() const;
 
  const std::vector<std::string>& getJointModelGroupNames() const;
 
  const std::vector<std::string>& getLinkNames() const;
 
  std::map<std::string, double> getNamedTargetValues(const std::string& name) const;
 
  const std::vector<std::string>& getJoints() const;
 
  [[deprecated("use getVariableNames")]] const std::vector<std::string>& getJointNames() const
  {
    return getVariableNames();
  }
 
  const std::vector<std::string>& getVariableNames() const;
 
  const std::vector<std::string>& getActiveJoints() const;
 
  unsigned int getVariableCount() const;
 
  bool getInterfaceDescriptions(std::vector<moveit_msgs::PlannerInterfaceDescription>& desc) const;
 
  bool getInterfaceDescription(moveit_msgs::PlannerInterfaceDescription& desc) const;
 
  std::map<std::string, std::string> getPlannerParams(const std::string& planner_id,
                                                      const std::string& group = "") const;
 
  void setPlannerParams(const std::string& planner_id, const std::string& group,
                        const std::map<std::string, std::string>& params, bool bReplace = false);
 
  std::string getDefaultPlanningPipelineId() const;
 
  void setPlanningPipelineId(const std::string& pipeline_id);
 
  const std::string& getPlanningPipelineId() const;
 
  std::string getDefaultPlannerId(const std::string& group = "") const;
 
  void setPlannerId(const std::string& planner_id);
 
  const std::string& getPlannerId() const;
 
  void setPlanningTime(double seconds);
 
  void setNumPlanningAttempts(unsigned int num_planning_attempts);
 
  void setMaxVelocityScalingFactor(double max_velocity_scaling_factor);
 
  void setMaxAccelerationScalingFactor(double max_acceleration_scaling_factor);
 
  void limitMaxCartesianLinkSpeed(const double max_speed, const std::string& link_name = "");
 
  void clearMaxCartesianLinkSpeed();
 
  double getPlanningTime() const;
 
  double getGoalJointTolerance() const;
 
  double getGoalPositionTolerance() const;
 
  double getGoalOrientationTolerance() const;
 
  void setGoalTolerance(double tolerance);
 
  void setGoalJointTolerance(double tolerance);
 
  void setGoalPositionTolerance(double tolerance);
 
  void setGoalOrientationTolerance(double tolerance);
 
  void setWorkspace(double minx, double miny, double minz, double maxx, double maxy, double maxz);
 
  void setStartState(const moveit_msgs::RobotState& start_state);
 
  void setStartState(const moveit::core::RobotState& start_state);
 
  void setStartStateToCurrentState();
 
  void setSupportSurfaceName(const std::string& name);
 
  bool setJointValueTarget(const std::vector<double>& group_variable_values);
 
  bool setJointValueTarget(const std::map<std::string, double>& variable_values);
 
  bool setJointValueTarget(const std::vector<std::string>& variable_names, const std::vector<double>& variable_values);
 
  bool setJointValueTarget(const moveit::core::RobotState& robot_state);
 
  bool setJointValueTarget(const std::string& joint_name, const std::vector<double>& values);
 
  bool setJointValueTarget(const std::string& joint_name, double value);
 
  bool setJointValueTarget(const sensor_msgs::JointState& state);
 
  bool setJointValueTarget(const geometry_msgs::Pose& eef_pose, const std::string& end_effector_link = "");
 
  bool setJointValueTarget(const geometry_msgs::PoseStamped& eef_pose, const std::string& end_effector_link = "");
 
  bool setJointValueTarget(const Eigen::Isometry3d& eef_pose, const std::string& end_effector_link = "");
 
  bool setApproximateJointValueTarget(const geometry_msgs::Pose& eef_pose, const std::string& end_effector_link = "");
 
  bool setApproximateJointValueTarget(const geometry_msgs::PoseStamped& eef_pose,
                                      const std::string& end_effector_link = "");
 
  bool setApproximateJointValueTarget(const Eigen::Isometry3d& eef_pose, const std::string& end_effector_link = "");
 
  void setRandomTarget();
 
  bool setNamedTarget(const std::string& name);
 
  void getJointValueTarget(std::vector<double>& group_variable_values) const;
 
  [[deprecated]] const moveit::core::RobotState& getJointValueTarget() const;
 
  bool setPositionTarget(double x, double y, double z, const std::string& end_effector_link = "");
 
  bool setRPYTarget(double roll, double pitch, double yaw, const std::string& end_effector_link = "");
 
  bool setOrientationTarget(double x, double y, double z, double w, const std::string& end_effector_link = "");
 
  bool setPoseTarget(const Eigen::Isometry3d& end_effector_pose, const std::string& end_effector_link = "");
 
  bool setPoseTarget(const geometry_msgs::Pose& target, const std::string& end_effector_link = "");
 
  bool setPoseTarget(const geometry_msgs::PoseStamped& target, const std::string& end_effector_link = "");
 
  bool setPoseTargets(const EigenSTL::vector_Isometry3d& end_effector_pose, const std::string& end_effector_link = "");
 
  bool setPoseTargets(const std::vector<geometry_msgs::Pose>& target, const std::string& end_effector_link = "");
 
  bool setPoseTargets(const std::vector<geometry_msgs::PoseStamped>& target, const std::string& end_effector_link = "");
 
  void setPoseReferenceFrame(const std::string& pose_reference_frame);
 
  bool setEndEffectorLink(const std::string& end_effector_link);
 
  bool setEndEffector(const std::string& eef_name);
 
  void clearPoseTarget(const std::string& end_effector_link = "");
 
  void clearPoseTargets();
 
  const geometry_msgs::PoseStamped& getPoseTarget(const std::string& end_effector_link = "") const;
 
  const std::vector<geometry_msgs::PoseStamped>& getPoseTargets(const std::string& end_effector_link = "") const;
 
  const std::string& getEndEffectorLink() const;
 
  const std::string& getEndEffector() const;
 
  const std::string& getPoseReferenceFrame() const;
 
  moveit::core::MoveItErrorCode asyncMove();
 
  actionlib::SimpleActionClient<moveit_msgs::MoveGroupAction>& getMoveGroupClient() const;
 
  moveit::core::MoveItErrorCode move();
 
  moveit::core::MoveItErrorCode plan(Plan& plan);
 
  moveit::core::MoveItErrorCode asyncExecute(const Plan& plan);
 
  moveit::core::MoveItErrorCode asyncExecute(const moveit_msgs::RobotTrajectory& trajectory);
 
  moveit::core::MoveItErrorCode execute(const Plan& plan);
 
  moveit::core::MoveItErrorCode execute(const moveit_msgs::RobotTrajectory& trajectory);
 
  double computeCartesianPath(const std::vector<geometry_msgs::Pose>& waypoints, double eef_step, double jump_threshold,
                              moveit_msgs::RobotTrajectory& trajectory, bool avoid_collisions = true,
                              moveit_msgs::MoveItErrorCodes* error_code = nullptr);
 
  double computeCartesianPath(const std::vector<geometry_msgs::Pose>& waypoints, double eef_step, double jump_threshold,
                              moveit_msgs::RobotTrajectory& trajectory,
                              const moveit_msgs::Constraints& path_constraints, bool avoid_collisions = true,
                              moveit_msgs::MoveItErrorCodes* error_code = nullptr);
 
  void stop();
 
  void allowReplanning(bool flag);
 
  void setReplanAttempts(int32_t attempts);
 
  void setReplanDelay(double delay);
 
  void allowLooking(bool flag);
 
  void setLookAroundAttempts(int32_t attempts);
 
  void constructMotionPlanRequest(moveit_msgs::MotionPlanRequest& request);
 
  moveit_msgs::PickupGoal constructPickupGoal(const std::string& object, std::vector<moveit_msgs::Grasp> grasps,
                                              bool plan_only) const;
 
  moveit_msgs::PlaceGoal constructPlaceGoal(const std::string& object,
                                            std::vector<moveit_msgs::PlaceLocation> locations, bool plan_only) const;
 
  std::vector<moveit_msgs::PlaceLocation>
  posesToPlaceLocations(const std::vector<geometry_msgs::PoseStamped>& poses) const;
 
  moveit::core::MoveItErrorCode pick(const std::string& object, bool plan_only = false)
  {
    return pick(constructPickupGoal(object, std::vector<moveit_msgs::Grasp>(), plan_only));
  }
 
  moveit::core::MoveItErrorCode pick(const std::string& object, const moveit_msgs::Grasp& grasp, bool plan_only = false)
  {
    return pick(constructPickupGoal(object, { grasp }, plan_only));
  }
 
  moveit::core::MoveItErrorCode pick(const std::string& object, std::vector<moveit_msgs::Grasp> grasps,
                                     bool plan_only = false)
  {
    return pick(constructPickupGoal(object, std::move(grasps), plan_only));
  }
 
  moveit::core::MoveItErrorCode pick(const moveit_msgs::PickupGoal& goal);
 
  moveit::core::MoveItErrorCode planGraspsAndPick(const std::string& object = "", bool plan_only = false);
 
  moveit::core::MoveItErrorCode planGraspsAndPick(const moveit_msgs::CollisionObject& object, bool plan_only = false);
 
  moveit::core::MoveItErrorCode place(const std::string& object, bool plan_only = false)
  {
    return place(constructPlaceGoal(object, std::vector<moveit_msgs::PlaceLocation>(), plan_only));
  }
 
  moveit::core::MoveItErrorCode place(const std::string& object, std::vector<moveit_msgs::PlaceLocation> locations,
                                      bool plan_only = false)
  {
    return place(constructPlaceGoal(object, std::move(locations), plan_only));
  }
 
  moveit::core::MoveItErrorCode place(const std::string& object, const std::vector<geometry_msgs::PoseStamped>& poses,
                                      bool plan_only = false)
  {
    return place(constructPlaceGoal(object, posesToPlaceLocations(poses), plan_only));
  }
 
  moveit::core::MoveItErrorCode place(const std::string& object, const geometry_msgs::PoseStamped& pose,
                                      bool plan_only = false)
  {
    return place(constructPlaceGoal(object, posesToPlaceLocations({ pose }), plan_only));
  }
 
  moveit::core::MoveItErrorCode place(const moveit_msgs::PlaceGoal& goal);
 
  bool attachObject(const std::string& object, const std::string& link = "");
 
  bool attachObject(const std::string& object, const std::string& link, const std::vector<std::string>& touch_links);
 
  bool detachObject(const std::string& name = "");
 
  bool startStateMonitor(double wait = 1.0);
 
  std::vector<double> getCurrentJointValues() const;
 
  moveit::core::RobotStatePtr getCurrentState(double wait = 1) const;
 
  geometry_msgs::PoseStamped getCurrentPose(const std::string& end_effector_link = "") const;
 
  std::vector<double> getCurrentRPY(const std::string& end_effector_link = "") const;
 
  std::vector<double> getRandomJointValues() const;
 
  geometry_msgs::PoseStamped getRandomPose(const std::string& end_effector_link = "") const;
 
  void rememberJointValues(const std::string& name);
 
  void rememberJointValues(const std::string& name, const std::vector<double>& values);
 
  const std::map<std::string, std::vector<double> >& getRememberedJointValues() const
  {
    return remembered_joint_values_;
  }
 
  void forgetJointValues(const std::string& name);
 
  void setConstraintsDatabase(const std::string& host, unsigned int port);
 
  std::vector<std::string> getKnownConstraints() const;
 
  moveit_msgs::Constraints getPathConstraints() const;
 
  bool setPathConstraints(const std::string& constraint);
 
  void setPathConstraints(const moveit_msgs::Constraints& constraint);
 
  void clearPathConstraints();
 
  moveit_msgs::TrajectoryConstraints getTrajectoryConstraints() const;
  void setTrajectoryConstraints(const moveit_msgs::TrajectoryConstraints& constraint);
  void clearTrajectoryConstraints();
 
protected:
  const moveit::core::RobotState& getTargetRobotState() const;
 
private:
  std::map<std::string, std::vector<double> > remembered_joint_values_;
  class MoveGroupInterfaceImpl;
  MoveGroupInterfaceImpl* impl_;
};
}  // namespace planning_interface
}  // namespace moveit