cartesian.cpp

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/* Author: Robert Haschke
   Desc:   Planning a simple sequence of Cartesian motions
*/
 
#include <moveit/task_constructor/task.h>
 
#include <moveit/task_constructor/stages/fixed_state.h>
#include <moveit/task_constructor/solvers/cartesian_path.h>
#include <moveit/task_constructor/solvers/joint_interpolation.h>
#include <moveit/task_constructor/stages/move_to.h>
#include <moveit/task_constructor/stages/move_relative.h>
#include <moveit/task_constructor/stages/connect.h>
 
#include <ros/ros.h>
#include <moveit/planning_scene/planning_scene.h>
 
using namespace moveit::task_constructor;
 
Task createTask() {
        Task t;
        t.stages()->setName("Cartesian Path");
 
        const std::string group = "panda_arm";
        const std::string eef = "hand";
 
        // create Cartesian interpolation "planner" to be used in various stages
        auto cartesian_interpolation = std::make_shared<solvers::CartesianPath>();
        // create a joint-space interpolation "planner" to be used in various stages
        auto joint_interpolation = std::make_shared<solvers::JointInterpolationPlanner>();
 
        // start from a fixed robot state
        t.loadRobotModel();
        auto scene = std::make_shared<planning_scene::PlanningScene>(t.getRobotModel());
        {
                auto& state = scene->getCurrentStateNonConst();
                state.setToDefaultValues(state.getJointModelGroup(group), "ready");
 
                auto fixed = std::make_unique<stages::FixedState>("initial state");
                fixed->setState(scene);
                t.add(std::move(fixed));
        }
 
        {
                auto stage = std::make_unique<stages::MoveRelative>("x +0.2", cartesian_interpolation);
                stage->setGroup(group);
                geometry_msgs::Vector3Stamped direction;
                direction.header.frame_id = "world";
                direction.vector.x = 0.2;
                stage->setDirection(direction);
                t.add(std::move(stage));
        }
 
        {
                auto stage = std::make_unique<stages::MoveRelative>("y -0.3", cartesian_interpolation);
                stage->setGroup(group);
                geometry_msgs::Vector3Stamped direction;
                direction.header.frame_id = "world";
                direction.vector.y = -0.3;
                stage->setDirection(direction);
                t.add(std::move(stage));
        }
 
        {  // rotate about TCP
                auto stage = std::make_unique<stages::MoveRelative>("rz +45°", cartesian_interpolation);
                stage->setGroup(group);
                geometry_msgs::TwistStamped twist;
                twist.header.frame_id = "world";
                twist.twist.angular.z = M_PI / 4.;
                stage->setDirection(twist);
                t.add(std::move(stage));
        }
 
        {  // perform a Cartesian motion, defined as a relative offset in joint space
                auto stage = std::make_unique<stages::MoveRelative>("joint offset", cartesian_interpolation);
                stage->setGroup(group);
                std::map<std::string, double> offsets = { { "panda_joint1", M_PI / 6. }, { "panda_joint3", -M_PI / 6 } };
                stage->setDirection(offsets);
                t.add(std::move(stage));
        }
 
        {  // move gripper into predefined open state
                auto stage = std::make_unique<stages::MoveTo>("open gripper", joint_interpolation);
                stage->setGroup(eef);
                stage->setGoal("open");
                t.add(std::move(stage));
        }
 
        {  // move from reached state back to the original state, using joint interpolation
                // specifying two groups (arm and hand) will try to merge both trajectories
                stages::Connect::GroupPlannerVector planners = { { group, joint_interpolation }, { eef, joint_interpolation } };
                auto connect = std::make_unique<stages::Connect>("connect", planners);
                t.add(std::move(connect));
        }
 
        {  // final state is original state again
                auto fixed = std::make_unique<stages::FixedState>("final state");
                fixed->setState(scene);
                t.add(std::move(fixed));
        }
 
        return t;
}
 
int main(int argc, char** argv) {
        ros::init(argc, argv, "mtc_tutorial");
        // run an asynchronous spinner to communicate with the move_group node and rviz
        ros::AsyncSpinner spinner(1);
        spinner.start();
 
        auto task = createTask();
        try {
                if (task.plan())
                        task.introspection().publishSolution(*task.solutions().front());
        } catch (const InitStageException& ex) {
                std::cerr << "planning failed with exception\n" << ex << task;
        }
 
        ros::waitForShutdown();  // keep alive for interactive inspection in rviz
        return 0;
}