modular.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/current_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 <moveit/task_constructor/container.h>
 
#include <ros/ros.h>
#include <moveit/planning_scene/planning_scene.h>
 
using namespace moveit::task_constructor;
 
std::unique_ptr<SerialContainer> createModule(const std::string& group) {
        auto c = std::make_unique<SerialContainer>("Cartesian Path");
        c->setProperty("group", group);
 
        // create Cartesian interpolation "planner" to be used in stages
        auto cartesian = std::make_shared<solvers::CartesianPath>();
        // create joint interpolation "planner"
        auto joint_interpolation = std::make_shared<solvers::JointInterpolationPlanner>();
 
        {
                auto stage = std::make_unique<stages::MoveRelative>("x +0.2", cartesian);
                stage->properties().configureInitFrom(Stage::PARENT, { "group" });
                geometry_msgs::Vector3Stamped direction;
                direction.header.frame_id = "world";
                direction.vector.x = 0.2;
                stage->setDirection(direction);
                c->insert(std::move(stage));
        }
 
        {
                auto stage = std::make_unique<stages::MoveRelative>("y -0.3", cartesian);
                stage->properties().configureInitFrom(Stage::PARENT);
                geometry_msgs::Vector3Stamped direction;
                direction.header.frame_id = "world";
                direction.vector.y = -0.3;
                stage->setDirection(direction);
                c->insert(std::move(stage));
        }
 
        {  // rotate about TCP
                auto stage = std::make_unique<stages::MoveRelative>("rz +45°", cartesian);
                stage->properties().configureInitFrom(Stage::PARENT);
                geometry_msgs::TwistStamped twist;
                twist.header.frame_id = "world";
                twist.twist.angular.z = M_PI / 4.;
                stage->setDirection(twist);
                c->insert(std::move(stage));
        }
 
        {  // move back to ready pose
                auto stage = std::make_unique<stages::MoveTo>("moveTo ready", joint_interpolation);
                stage->properties().configureInitFrom(Stage::PARENT);
                stage->setGoal("ready");
                c->insert(std::move(stage));
        }
        return c;
}
 
Task createTask() {
        Task t;
        t.stages()->setName("Reusable Containers");
        t.add(std::make_unique<stages::CurrentState>("current"));
 
        const std::string group = "panda_arm";
        t.add(createModule(group));
        t.add(createModule(group));
        t.add(createModule(group));
        t.add(createModule(group));
        t.add(createModule(group));
 
        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;
}