forked from moveit/moveit2
/
planning_scene_monitor.cpp
1542 lines (1381 loc) · 60.6 KB
/
planning_scene_monitor.cpp
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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2011, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Ioan Sucan */
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/utils/message_checks.h>
#include <moveit/exceptions/exceptions.h>
#include <moveit_msgs/srv/get_planning_scene.hpp>
#include <tf2/exceptions.h>
#include <tf2/LinearMath/Transform.h>
#include <tf2_eigen/tf2_eigen.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <moveit/profiler/profiler.h>
#include <boost/algorithm/string/join.hpp>
#include <memory>
#include <std_msgs/msg/string.hpp>
#include <chrono>
using namespace std::chrono_literals;
static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit_ros.planning_scene_monitor.planning_scene_monitor");
namespace planning_scene_monitor
{
const std::string PlanningSceneMonitor::DEFAULT_JOINT_STATES_TOPIC = "joint_states";
const std::string PlanningSceneMonitor::DEFAULT_ATTACHED_COLLISION_OBJECT_TOPIC = "attached_collision_object";
const std::string PlanningSceneMonitor::DEFAULT_COLLISION_OBJECT_TOPIC = "collision_object";
const std::string PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_WORLD_TOPIC = "planning_scene_world";
const std::string PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_TOPIC = "planning_scene";
const std::string PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_SERVICE = "get_planning_scene";
const std::string PlanningSceneMonitor::MONITORED_PLANNING_SCENE_TOPIC = "monitored_planning_scene";
PlanningSceneMonitor::PlanningSceneMonitor(const rclcpp::Node::SharedPtr& node, const std::string& robot_description,
const std::shared_ptr<tf2_ros::Buffer>& tf_buffer, const std::string& name)
: PlanningSceneMonitor(node, planning_scene::PlanningScenePtr(), robot_description, tf_buffer, name)
{
}
PlanningSceneMonitor::PlanningSceneMonitor(const rclcpp::Node::SharedPtr& node,
const planning_scene::PlanningScenePtr& scene,
const std::string& robot_description,
const std::shared_ptr<tf2_ros::Buffer>& tf_buffer, const std::string& name)
: PlanningSceneMonitor(node, scene, std::make_shared<robot_model_loader::RobotModelLoader>(node, robot_description),
tf_buffer, name)
{
}
PlanningSceneMonitor::PlanningSceneMonitor(const rclcpp::Node::SharedPtr& node,
const robot_model_loader::RobotModelLoaderPtr& rm_loader,
const std::shared_ptr<tf2_ros::Buffer>& tf_buffer, const std::string& name)
: PlanningSceneMonitor(node, planning_scene::PlanningScenePtr(), rm_loader, tf_buffer, name)
{
}
PlanningSceneMonitor::PlanningSceneMonitor(const rclcpp::Node::SharedPtr& node,
const planning_scene::PlanningScenePtr& scene,
const robot_model_loader::RobotModelLoaderPtr& rm_loader,
const std::shared_ptr<tf2_ros::Buffer>& tf_buffer, const std::string& name)
: monitor_name_(name)
, node_(node)
, private_executor_(std::make_shared<rclcpp::executors::SingleThreadedExecutor>())
, tf_buffer_(tf_buffer)
, dt_state_update_(0.0)
, shape_transform_cache_lookup_wait_time_(0, 0)
, rm_loader_(rm_loader)
{
std::vector<std::string> new_args = rclcpp::NodeOptions().arguments();
new_args.push_back("--ros-args");
new_args.push_back("-r");
new_args.push_back(std::string("__node:=") + node_->get_name() + "_private");
new_args.push_back("--");
pnode_ = std::make_shared<rclcpp::Node>("_", node_->get_namespace(), rclcpp::NodeOptions().arguments(new_args));
// use same callback queue as root_nh_
// root_nh_.setCallbackQueue(&queue_);
// nh_.setCallbackQueue(&queue_);
// spinner_.reset(new ros::AsyncSpinner(1, &queue_));
// spinner_->start();
initialize(scene);
}
PlanningSceneMonitor::~PlanningSceneMonitor()
{
if (scene_)
{
scene_->setCollisionObjectUpdateCallback(collision_detection::World::ObserverCallbackFn());
scene_->setAttachedBodyUpdateCallback(moveit::core::AttachedBodyCallback());
}
stopPublishingPlanningScene();
stopStateMonitor();
stopWorldGeometryMonitor();
stopSceneMonitor();
private_executor_->cancel();
if (private_executor_thread_.joinable())
private_executor_thread_.join();
private_executor_.reset();
current_state_monitor_.reset();
scene_const_.reset();
scene_.reset();
parent_scene_.reset();
robot_model_.reset();
rm_loader_.reset();
}
void PlanningSceneMonitor::initialize(const planning_scene::PlanningScenePtr& scene)
{
moveit::tools::Profiler::ScopedStart prof_start;
moveit::tools::Profiler::ScopedBlock prof_block("PlanningSceneMonitor::initialize");
if (monitor_name_.empty())
monitor_name_ = "planning_scene_monitor";
robot_description_ = rm_loader_->getRobotDescription();
if (rm_loader_->getModel())
{
robot_model_ = rm_loader_->getModel();
scene_ = scene;
collision_loader_.setupScene(pnode_, scene_);
scene_const_ = scene_;
if (!scene_)
{
try
{
scene_.reset(new planning_scene::PlanningScene(rm_loader_->getModel()));
collision_loader_.setupScene(pnode_, scene_);
scene_const_ = scene_;
configureCollisionMatrix(scene_);
configureDefaultPadding();
scene_->getCollisionEnvNonConst()->setPadding(default_robot_padd_);
scene_->getCollisionEnvNonConst()->setScale(default_robot_scale_);
for (const std::pair<const std::string, double>& it : default_robot_link_padd_)
{
scene_->getCollisionEnvNonConst()->setLinkPadding(it.first, it.second);
}
for (const std::pair<const std::string, double>& it : default_robot_link_scale_)
{
scene_->getCollisionEnvNonConst()->setLinkScale(it.first, it.second);
}
scene_->propogateRobotPadding();
}
catch (moveit::ConstructException& e)
{
RCLCPP_ERROR(LOGGER, "Configuration of planning scene failed");
scene_.reset();
scene_const_ = scene_;
}
}
if (scene_)
{
scene_->setAttachedBodyUpdateCallback(boost::bind(&PlanningSceneMonitor::currentStateAttachedBodyUpdateCallback,
this, boost::placeholders::_1, boost::placeholders::_2));
scene_->setCollisionObjectUpdateCallback(boost::bind(&PlanningSceneMonitor::currentWorldObjectUpdateCallback,
this, boost::placeholders::_1, boost::placeholders::_2));
}
}
else
{
RCLCPP_ERROR(LOGGER, "Robot model not loaded");
}
publish_planning_scene_frequency_ = 2.0;
new_scene_update_ = UPDATE_NONE;
last_update_time_ = last_robot_motion_time_ = rclcpp::Clock().now();
last_robot_state_update_wall_time_ = std::chrono::system_clock::now();
dt_state_update_ = std::chrono::duration<double>(0.03);
double temp_wait_time = 0.05;
if (!robot_description_.empty())
node_->get_parameter_or(robot_description_ + "_planning.shape_transform_cache_lookup_wait_time", temp_wait_time,
temp_wait_time);
shape_transform_cache_lookup_wait_time_ = rclcpp::Duration((int64_t)temp_wait_time * 1.0e+9);
state_update_pending_ = false;
// Period for 0.1 sec
using std::chrono::nanoseconds;
state_update_timer_ =
pnode_->create_wall_timer(dt_state_update_, std::bind(&PlanningSceneMonitor::stateUpdateTimerCallback, this));
private_executor_->add_node(pnode_);
// start executor on a different thread now
private_executor_thread_ = std::thread([this]() { private_executor_->spin(); });
auto declare_parameter = [this](const std::string& param_name, auto default_val,
const std::string& description) -> auto
{
rcl_interfaces::msg::ParameterDescriptor desc;
desc.set__description(description);
return pnode_->declare_parameter(param_name, default_val, desc);
};
try
{
// Set up publishing parameters
bool publish_planning_scene =
declare_parameter("publish_planning_scene", false, "Set to True to publish Planning Scenes");
bool publish_geometry_updates = declare_parameter("publish_geometry_updates", false,
"Set to True to publish geometry updates of the planning scene");
bool publish_state_updates =
declare_parameter("publish_state_updates", false, "Set to True to publish state updates of the planning scene");
bool publish_transform_updates = declare_parameter(
"publish_transforms_updates", false, "Set to True to publish transform updates of the planning scene");
double publish_planning_scene_hz = declare_parameter(
"publish_planning_scene_hz", 4.0, "Set the maximum frequency at which planning scene updates are published");
updatePublishSettings(publish_geometry_updates, publish_state_updates, publish_transform_updates,
publish_planning_scene, publish_planning_scene_hz);
}
catch (const rclcpp::exceptions::InvalidParameterTypeException& e)
{
RCLCPP_ERROR_STREAM(LOGGER, "Invalid parameter type in PlanningSceneMonitor: " << e.what());
RCLCPP_ERROR(LOGGER, "Dynamic publishing parameters won't be available");
return;
}
auto psm_parameter_set_callback = [this](std::vector<rclcpp::Parameter> parameters) -> auto
{
auto result = rcl_interfaces::msg::SetParametersResult();
result.successful = true;
bool publish_planning_scene = false, publish_geometry_updates = false, publish_state_updates = false,
publish_transform_updates = false;
double publish_planning_scene_hz = 4.0;
bool declared_params_valid = pnode_->get_parameter("publish_planning_scene", publish_planning_scene) &&
pnode_->get_parameter("publish_geometry_updates", publish_geometry_updates) &&
pnode_->get_parameter("publish_state_updates", publish_state_updates) &&
pnode_->get_parameter("publish_transforms_updates", publish_transform_updates) &&
pnode_->get_parameter("publish_planning_scene_hz", publish_planning_scene_hz);
if (!declared_params_valid)
{
RCLCPP_ERROR(LOGGER, "Initially declared parameters are invalid - failed to process update callback");
result.successful = false;
return result;
}
for (const auto& parameter : parameters)
{
const auto& name = parameter.get_name();
const auto& type = parameter.get_type();
// Only allow already declared parameters with same value type
if (!pnode_->has_parameter(name) || pnode_->get_parameter(name).get_type() != type)
{
RCLCPP_ERROR(LOGGER, "Invalid parameter in PlanningSceneMonitor parameter callback");
result.successful = false;
return result;
}
// Update parameter values
if (name == "planning_scene_monitor.publish_planning_scene")
publish_planning_scene = parameter.as_bool();
else if (name == "planning_scene_monitor.publish_geometry_updates")
publish_geometry_updates = parameter.as_bool();
else if (name == "planning_scene_monitor.publish_state_updates")
publish_state_updates = parameter.as_bool();
else if (name == "planning_scene_monitor.publish_transforms_updates")
publish_transform_updates = parameter.as_bool();
else if (name == "planning_scene_monitor.publish_planning_scene_hz")
publish_planning_scene_hz = parameter.as_double();
}
if (result.successful)
updatePublishSettings(publish_geometry_updates, publish_state_updates, publish_transform_updates,
publish_planning_scene, publish_planning_scene_hz);
return result;
};
callback_handler_ = pnode_->add_on_set_parameters_callback(psm_parameter_set_callback);
}
void PlanningSceneMonitor::monitorDiffs(bool flag)
{
if (scene_)
{
if (flag)
{
boost::unique_lock<boost::shared_mutex> ulock(scene_update_mutex_);
if (scene_)
{
scene_->setAttachedBodyUpdateCallback(moveit::core::AttachedBodyCallback());
scene_->setCollisionObjectUpdateCallback(collision_detection::World::ObserverCallbackFn());
scene_->decoupleParent();
parent_scene_ = scene_;
scene_ = parent_scene_->diff();
scene_const_ = scene_;
scene_->setAttachedBodyUpdateCallback(boost::bind(&PlanningSceneMonitor::currentStateAttachedBodyUpdateCallback,
this, boost::placeholders::_1, boost::placeholders::_2));
scene_->setCollisionObjectUpdateCallback(boost::bind(&PlanningSceneMonitor::currentWorldObjectUpdateCallback,
this, boost::placeholders::_1, boost::placeholders::_2));
}
}
else
{
if (publish_planning_scene_)
{
RCLCPP_WARN(LOGGER, "Diff monitoring was stopped while publishing planning scene diffs. "
"Stopping planning scene diff publisher");
stopPublishingPlanningScene();
}
{
boost::unique_lock<boost::shared_mutex> ulock(scene_update_mutex_);
if (scene_)
{
scene_->decoupleParent();
parent_scene_.reset();
// remove the '+' added by .diff() at the end of the scene name
if (!scene_->getName().empty())
{
if (scene_->getName()[scene_->getName().length() - 1] == '+')
scene_->setName(scene_->getName().substr(0, scene_->getName().length() - 1));
}
}
}
}
}
}
void PlanningSceneMonitor::stopPublishingPlanningScene()
{
if (publish_planning_scene_)
{
std::unique_ptr<boost::thread> copy;
copy.swap(publish_planning_scene_);
new_scene_update_condition_.notify_all();
copy->join();
monitorDiffs(false);
planning_scene_publisher_.reset();
RCLCPP_INFO(LOGGER, "Stopped publishing maintained planning scene.");
}
}
void PlanningSceneMonitor::startPublishingPlanningScene(SceneUpdateType update_type,
const std::string& planning_scene_topic)
{
publish_update_types_ = update_type;
if (!publish_planning_scene_ && scene_)
{
planning_scene_publisher_ = pnode_->create_publisher<moveit_msgs::msg::PlanningScene>(planning_scene_topic, 100);
RCLCPP_INFO(LOGGER, "Publishing maintained planning scene on '%s'", planning_scene_topic.c_str());
monitorDiffs(true);
publish_planning_scene_.reset(new boost::thread(boost::bind(&PlanningSceneMonitor::scenePublishingThread, this)));
}
}
void PlanningSceneMonitor::scenePublishingThread()
{
RCLCPP_DEBUG(LOGGER, "Started scene publishing thread ...");
// publish the full planning scene once
{
moveit_msgs::msg::PlanningScene msg;
{
occupancy_map_monitor::OccMapTree::ReadLock lock;
if (octomap_monitor_)
lock = octomap_monitor_->getOcTreePtr()->reading();
scene_->getPlanningSceneMsg(msg);
}
planning_scene_publisher_->publish(msg);
RCLCPP_DEBUG(LOGGER, "Published the full planning scene: '%s'", msg.name.c_str());
}
do
{
moveit_msgs::msg::PlanningScene msg;
bool publish_msg = false;
bool is_full = false;
rclcpp::Rate rate(publish_planning_scene_frequency_);
{
boost::unique_lock<boost::shared_mutex> ulock(scene_update_mutex_);
while (new_scene_update_ == UPDATE_NONE && publish_planning_scene_)
new_scene_update_condition_.wait(ulock);
if (new_scene_update_ != UPDATE_NONE)
{
if ((publish_update_types_ & new_scene_update_) || new_scene_update_ == UPDATE_SCENE)
{
if (new_scene_update_ == UPDATE_SCENE)
is_full = true;
else
{
occupancy_map_monitor::OccMapTree::ReadLock lock;
if (octomap_monitor_)
lock = octomap_monitor_->getOcTreePtr()->reading();
scene_->getPlanningSceneDiffMsg(msg);
if (new_scene_update_ == UPDATE_STATE)
{
msg.robot_state.attached_collision_objects.clear();
msg.robot_state.is_diff = true;
}
}
boost::recursive_mutex::scoped_lock prevent_shape_cache_updates(shape_handles_lock_); // we don't want the
// transform cache to
// update while we are
// potentially changing
// attached bodies
scene_->setAttachedBodyUpdateCallback(moveit::core::AttachedBodyCallback());
scene_->setCollisionObjectUpdateCallback(collision_detection::World::ObserverCallbackFn());
scene_->pushDiffs(parent_scene_);
scene_->clearDiffs();
scene_->setAttachedBodyUpdateCallback(
boost::bind(&PlanningSceneMonitor::currentStateAttachedBodyUpdateCallback, this, boost::placeholders::_1,
boost::placeholders::_2));
scene_->setCollisionObjectUpdateCallback(boost::bind(&PlanningSceneMonitor::currentWorldObjectUpdateCallback,
this, boost::placeholders::_1, boost::placeholders::_2));
if (octomap_monitor_)
{
excludeAttachedBodiesFromOctree(); // in case updates have happened to the attached bodies, put them in
excludeWorldObjectsFromOctree(); // in case updates have happened to the attached bodies, put them in
}
if (is_full)
{
occupancy_map_monitor::OccMapTree::ReadLock lock;
if (octomap_monitor_)
lock = octomap_monitor_->getOcTreePtr()->reading();
scene_->getPlanningSceneMsg(msg);
}
// also publish timestamp of this robot_state
msg.robot_state.joint_state.header.stamp = last_robot_motion_time_;
publish_msg = true;
}
new_scene_update_ = UPDATE_NONE;
}
}
if (publish_msg)
{
planning_scene_publisher_->publish(msg);
if (is_full)
RCLCPP_DEBUG(LOGGER, "Published full planning scene: '%s'", msg.name.c_str());
rate.sleep();
}
} while (publish_planning_scene_);
}
void PlanningSceneMonitor::getMonitoredTopics(std::vector<std::string>& topics) const
{
// TODO(anasarrak): Do we need this for ROS2?
topics.clear();
if (current_state_monitor_)
{
const std::string& t = current_state_monitor_->getMonitoredTopic();
if (!t.empty())
topics.push_back(t);
}
if (planning_scene_subscriber_)
topics.push_back(planning_scene_subscriber_->get_topic_name());
if (collision_object_subscriber_)
// TODO (anasarrak) This has been changed to subscriber on Moveit, look at
// https://github.com/ros-planning/moveit/pull/1406/files/cb9488312c00e9c8949d89b363766f092330954d#diff-fb6e26ecc9a73d59dbdae3f3e08145e6
topics.push_back(collision_object_subscriber_->get_topic_name());
if (planning_scene_world_subscriber_)
topics.push_back(planning_scene_world_subscriber_->get_topic_name());
}
namespace
{
bool sceneIsParentOf(const planning_scene::PlanningSceneConstPtr& scene,
const planning_scene::PlanningScene* possible_parent)
{
if (scene && scene.get() == possible_parent)
return true;
if (scene)
return sceneIsParentOf(scene->getParent(), possible_parent);
return false;
}
} // namespace
bool PlanningSceneMonitor::updatesScene(const planning_scene::PlanningScenePtr& scene) const
{
return sceneIsParentOf(scene_const_, scene.get());
}
bool PlanningSceneMonitor::updatesScene(const planning_scene::PlanningSceneConstPtr& scene) const
{
return sceneIsParentOf(scene_const_, scene.get());
}
void PlanningSceneMonitor::triggerSceneUpdateEvent(SceneUpdateType update_type)
{
// do not modify update functions while we are calling them
boost::recursive_mutex::scoped_lock lock(update_lock_);
for (boost::function<void(SceneUpdateType)>& update_callback : update_callbacks_)
update_callback(update_type);
new_scene_update_ = (SceneUpdateType)((int)new_scene_update_ | (int)update_type);
new_scene_update_condition_.notify_all();
}
bool PlanningSceneMonitor::requestPlanningSceneState(const std::string& service_name)
{
if (get_scene_service_ && get_scene_service_->get_service_name() == service_name)
{
RCLCPP_FATAL_STREAM(LOGGER, "requestPlanningSceneState() to self-provided service '" << service_name << "'");
throw std::runtime_error("requestPlanningSceneState() to self-provided service: " + service_name);
}
// use global namespace for service
auto client = pnode_->create_client<moveit_msgs::srv::GetPlanningScene>(service_name);
auto srv = std::make_shared<moveit_msgs::srv::GetPlanningScene::Request>();
srv->components.components = srv->components.SCENE_SETTINGS | srv->components.ROBOT_STATE |
srv->components.ROBOT_STATE_ATTACHED_OBJECTS | srv->components.WORLD_OBJECT_NAMES |
srv->components.WORLD_OBJECT_GEOMETRY | srv->components.OCTOMAP |
srv->components.TRANSFORMS | srv->components.ALLOWED_COLLISION_MATRIX |
srv->components.LINK_PADDING_AND_SCALING | srv->components.OBJECT_COLORS;
// Make sure client is connected to server
RCLCPP_DEBUG(LOGGER, "Waiting for GetPlanningScene service `%s` to exist.", service_name.c_str());
if (client->wait_for_service(std::chrono::seconds(5)))
{
RCLCPP_DEBUG(LOGGER, "Sending service request to `%s`.", service_name.c_str());
auto service_result = client->async_send_request(srv);
const auto service_result_status = service_result.wait_for(std::chrono::seconds(5));
if (service_result_status == std::future_status::ready) // Success
{
RCLCPP_DEBUG(LOGGER, "Service request succeeded, applying new planning scene");
newPlanningSceneMessage(service_result.get()->scene);
return true;
}
if (service_result_status == std::future_status::timeout) // Timeout
{
RCLCPP_INFO(LOGGER, "GetPlanningScene service call to %s timed out. at %s:%d", service_name.c_str(), __FILE__,
__LINE__);
return false;
}
}
// If we are here, service is not available or call failed
RCLCPP_INFO(LOGGER,
"Failed to call service %s, have you launched move_group or called psm.providePlanningSceneService()?",
service_name.c_str());
return false;
}
void PlanningSceneMonitor::providePlanningSceneService(const std::string& service_name)
{
// Load the service
get_scene_service_ = pnode_->create_service<moveit_msgs::srv::GetPlanningScene>(
service_name, std::bind(&PlanningSceneMonitor::getPlanningSceneServiceCallback, this, std::placeholders::_1,
std::placeholders::_2));
}
void PlanningSceneMonitor::getPlanningSceneServiceCallback(moveit_msgs::srv::GetPlanningScene::Request::SharedPtr req,
moveit_msgs::srv::GetPlanningScene::Response::SharedPtr res)
{
if (req->components.components & moveit_msgs::msg::PlanningSceneComponents::TRANSFORMS)
updateFrameTransforms();
moveit_msgs::msg::PlanningSceneComponents all_components;
all_components.components = UINT_MAX; // Return all scene components if nothing is specified.
boost::unique_lock<boost::shared_mutex> ulock(scene_update_mutex_);
scene_->getPlanningSceneMsg(res->scene, req->components.components ? req->components : all_components);
}
void PlanningSceneMonitor::updatePublishSettings(bool publish_geom_updates, bool publish_state_updates,
bool publish_transform_updates, bool publish_planning_scene,
double publish_planning_scene_hz)
{
PlanningSceneMonitor::SceneUpdateType event = PlanningSceneMonitor::UPDATE_NONE;
if (publish_geom_updates)
event = (PlanningSceneMonitor::SceneUpdateType)((int)event | (int)PlanningSceneMonitor::UPDATE_GEOMETRY);
if (publish_state_updates)
event = (PlanningSceneMonitor::SceneUpdateType)((int)event | (int)PlanningSceneMonitor::UPDATE_STATE);
if (publish_transform_updates)
event = (PlanningSceneMonitor::SceneUpdateType)((int)event | (int)PlanningSceneMonitor::UPDATE_TRANSFORMS);
if (publish_planning_scene)
{
setPlanningScenePublishingFrequency(publish_planning_scene_hz);
startPublishingPlanningScene(event);
}
else
stopPublishingPlanningScene();
}
void PlanningSceneMonitor::newPlanningSceneCallback(moveit_msgs::msg::PlanningScene::SharedPtr scene)
{
newPlanningSceneMessage(*scene);
}
void PlanningSceneMonitor::clearOctomap()
{
if (octomap_monitor_)
{
octomap_monitor_->getOcTreePtr()->lockWrite();
octomap_monitor_->getOcTreePtr()->clear();
octomap_monitor_->getOcTreePtr()->unlockWrite();
}
else
{
RCLCPP_WARN(LOGGER, "Unable to clear octomap since no octomap monitor has been initialized");
}
}
bool PlanningSceneMonitor::newPlanningSceneMessage(const moveit_msgs::msg::PlanningScene& scene)
{
if (!scene_)
return false;
bool result;
SceneUpdateType upd = UPDATE_SCENE;
std::string old_scene_name;
{
boost::unique_lock<boost::shared_mutex> ulock(scene_update_mutex_);
// we don't want the transform cache to update while we are potentially changing attached bodies
boost::recursive_mutex::scoped_lock prevent_shape_cache_updates(shape_handles_lock_);
last_update_time_ = rclcpp::Clock().now();
last_robot_motion_time_ = scene.robot_state.joint_state.header.stamp;
RCLCPP_DEBUG(LOGGER, "scene update %f robot stamp: %f", fmod(last_update_time_.seconds(), 10.),
fmod(last_robot_motion_time_.seconds(), 10.));
old_scene_name = scene_->getName();
result = scene_->usePlanningSceneMsg(scene);
if (octomap_monitor_)
{
if (!scene.is_diff && scene.world.octomap.octomap.data.empty())
{
octomap_monitor_->getOcTreePtr()->lockWrite();
octomap_monitor_->getOcTreePtr()->clear();
octomap_monitor_->getOcTreePtr()->unlockWrite();
}
}
robot_model_ = scene_->getRobotModel();
// if we just reset the scene completely but we were maintaining diffs, we need to fix that
if (!scene.is_diff && parent_scene_)
{
// the scene is now decoupled from the parent, since we just reset it
scene_->setAttachedBodyUpdateCallback(moveit::core::AttachedBodyCallback());
scene_->setCollisionObjectUpdateCallback(collision_detection::World::ObserverCallbackFn());
parent_scene_ = scene_;
scene_ = parent_scene_->diff();
scene_const_ = scene_;
scene_->setAttachedBodyUpdateCallback(boost::bind(&PlanningSceneMonitor::currentStateAttachedBodyUpdateCallback,
this, boost::placeholders::_1, boost::placeholders::_2));
scene_->setCollisionObjectUpdateCallback(boost::bind(&PlanningSceneMonitor::currentWorldObjectUpdateCallback,
this, boost::placeholders::_1, boost::placeholders::_2));
}
if (octomap_monitor_)
{
excludeAttachedBodiesFromOctree(); // in case updates have happened to the attached bodies, put them in
excludeWorldObjectsFromOctree(); // in case updates have happened to the attached bodies, put them in
}
}
// if we have a diff, try to more accuratelly determine the update type
if (scene.is_diff)
{
bool no_other_scene_upd = (scene.name.empty() || scene.name == old_scene_name) &&
scene.allowed_collision_matrix.entry_names.empty() && scene.link_padding.empty() &&
scene.link_scale.empty();
if (no_other_scene_upd)
{
upd = UPDATE_NONE;
if (!moveit::core::isEmpty(scene.world))
upd = (SceneUpdateType)((int)upd | (int)UPDATE_GEOMETRY);
if (!scene.fixed_frame_transforms.empty())
upd = (SceneUpdateType)((int)upd | (int)UPDATE_TRANSFORMS);
if (!moveit::core::isEmpty(scene.robot_state))
{
upd = (SceneUpdateType)((int)upd | (int)UPDATE_STATE);
if (!scene.robot_state.attached_collision_objects.empty() || !scene.robot_state.is_diff)
upd = (SceneUpdateType)((int)upd | (int)UPDATE_GEOMETRY);
}
}
}
triggerSceneUpdateEvent(upd);
return result;
}
void PlanningSceneMonitor::newPlanningSceneWorldCallback(moveit_msgs::msg::PlanningSceneWorld::SharedPtr world)
{
if (scene_)
{
updateFrameTransforms();
{
boost::unique_lock<boost::shared_mutex> ulock(scene_update_mutex_);
last_update_time_ = rclcpp::Clock().now();
scene_->getWorldNonConst()->clearObjects();
scene_->processPlanningSceneWorldMsg(*world);
if (octomap_monitor_)
{
if (world->octomap.octomap.data.empty())
{
octomap_monitor_->getOcTreePtr()->lockWrite();
octomap_monitor_->getOcTreePtr()->clear();
octomap_monitor_->getOcTreePtr()->unlockWrite();
}
}
}
triggerSceneUpdateEvent(UPDATE_SCENE);
}
}
void PlanningSceneMonitor::collisionObjectCallback(moveit_msgs::msg::CollisionObject::SharedPtr obj)
{
if (!scene_)
return;
updateFrameTransforms();
{
boost::unique_lock<boost::shared_mutex> ulock(scene_update_mutex_);
last_update_time_ = rclcpp::Clock().now();
if (!scene_->processCollisionObjectMsg(*obj))
return;
}
triggerSceneUpdateEvent(UPDATE_GEOMETRY);
}
void PlanningSceneMonitor::attachObjectCallback(moveit_msgs::msg::AttachedCollisionObject::SharedPtr obj)
{
if (scene_)
{
updateFrameTransforms();
{
boost::unique_lock<boost::shared_mutex> ulock(scene_update_mutex_);
last_update_time_ = rclcpp::Clock().now();
scene_->processAttachedCollisionObjectMsg(*obj);
}
triggerSceneUpdateEvent(UPDATE_GEOMETRY);
}
}
void PlanningSceneMonitor::excludeRobotLinksFromOctree()
{
if (!octomap_monitor_)
return;
boost::recursive_mutex::scoped_lock _(shape_handles_lock_);
includeRobotLinksInOctree();
const std::vector<const moveit::core::LinkModel*>& links = getRobotModel()->getLinkModelsWithCollisionGeometry();
auto start = std::chrono::system_clock::now();
bool warned = false;
for (const moveit::core::LinkModel* link : links)
{
std::vector<shapes::ShapeConstPtr> shapes = link->getShapes(); // copy shared ptrs on purpuse
for (std::size_t j = 0; j < shapes.size(); ++j)
{
// merge mesh vertices up to 0.1 mm apart
if (shapes[j]->type == shapes::MESH)
{
shapes::Mesh* m = static_cast<shapes::Mesh*>(shapes[j]->clone());
m->mergeVertices(1e-4);
shapes[j].reset(m);
}
occupancy_map_monitor::ShapeHandle h = octomap_monitor_->excludeShape(shapes[j]);
if (h)
link_shape_handles_[link].push_back(std::make_pair(h, j));
}
if (!warned && ((std::chrono::system_clock::now() - start) > std::chrono::seconds(30)))
{
RCLCPP_WARN(LOGGER, "It is likely there are too many vertices in collision geometry");
warned = true;
}
}
}
void PlanningSceneMonitor::includeRobotLinksInOctree()
{
if (!octomap_monitor_)
return;
boost::recursive_mutex::scoped_lock _(shape_handles_lock_);
for (std::pair<const moveit::core::LinkModel* const,
std::vector<std::pair<occupancy_map_monitor::ShapeHandle, std::size_t>>>& link_shape_handle :
link_shape_handles_)
for (std::pair<occupancy_map_monitor::ShapeHandle, std::size_t>& it : link_shape_handle.second)
octomap_monitor_->forgetShape(it.first);
link_shape_handles_.clear();
}
void PlanningSceneMonitor::includeAttachedBodiesInOctree()
{
if (!octomap_monitor_)
return;
boost::recursive_mutex::scoped_lock _(shape_handles_lock_);
// clear information about any attached body, without refering to the AttachedBody* ptr (could be invalid)
for (std::pair<const moveit::core::AttachedBody* const,
std::vector<std::pair<occupancy_map_monitor::ShapeHandle, std::size_t>>>& attached_body_shape_handle :
attached_body_shape_handles_)
for (std::pair<occupancy_map_monitor::ShapeHandle, std::size_t>& it : attached_body_shape_handle.second)
octomap_monitor_->forgetShape(it.first);
attached_body_shape_handles_.clear();
}
void PlanningSceneMonitor::excludeAttachedBodiesFromOctree()
{
boost::recursive_mutex::scoped_lock _(shape_handles_lock_);
includeAttachedBodiesInOctree();
// add attached objects again
std::vector<const moveit::core::AttachedBody*> ab;
scene_->getCurrentState().getAttachedBodies(ab);
for (const moveit::core::AttachedBody* body : ab)
excludeAttachedBodyFromOctree(body);
}
void PlanningSceneMonitor::includeWorldObjectsInOctree()
{
if (!octomap_monitor_)
return;
boost::recursive_mutex::scoped_lock _(shape_handles_lock_);
// clear information about any attached object
for (std::pair<const std::string,
std::vector<std::pair<occupancy_map_monitor::ShapeHandle, const Eigen::Isometry3d*>>>&
collision_body_shape_handle : collision_body_shape_handles_)
for (std::pair<occupancy_map_monitor::ShapeHandle, const Eigen::Isometry3d*>& it :
collision_body_shape_handle.second)
octomap_monitor_->forgetShape(it.first);
collision_body_shape_handles_.clear();
}
void PlanningSceneMonitor::excludeWorldObjectsFromOctree()
{
boost::recursive_mutex::scoped_lock _(shape_handles_lock_);
includeWorldObjectsInOctree();
for (const std::pair<const std::string, collision_detection::World::ObjectPtr>& it : *scene_->getWorld())
excludeWorldObjectFromOctree(it.second);
}
void PlanningSceneMonitor::excludeAttachedBodyFromOctree(const moveit::core::AttachedBody* attached_body)
{
if (!octomap_monitor_)
return;
boost::recursive_mutex::scoped_lock _(shape_handles_lock_);
bool found = false;
for (std::size_t i = 0; i < attached_body->getShapes().size(); ++i)
{
if (attached_body->getShapes()[i]->type == shapes::PLANE || attached_body->getShapes()[i]->type == shapes::OCTREE)
continue;
occupancy_map_monitor::ShapeHandle h = octomap_monitor_->excludeShape(attached_body->getShapes()[i]);
if (h)
{
found = true;
attached_body_shape_handles_[attached_body].push_back(std::make_pair(h, i));
}
}
if (found)
RCLCPP_DEBUG(LOGGER, "Excluding attached body '%s' from monitored octomap", attached_body->getName().c_str());
}
void PlanningSceneMonitor::includeAttachedBodyInOctree(const moveit::core::AttachedBody* attached_body)
{
if (!octomap_monitor_)
return;
boost::recursive_mutex::scoped_lock _(shape_handles_lock_);
AttachedBodyShapeHandles::iterator it = attached_body_shape_handles_.find(attached_body);
if (it != attached_body_shape_handles_.end())
{
for (std::pair<occupancy_map_monitor::ShapeHandle, std::size_t>& shape_handle : it->second)
octomap_monitor_->forgetShape(shape_handle.first);
RCLCPP_DEBUG(LOGGER, "Including attached body '%s' in monitored octomap", attached_body->getName().c_str());
attached_body_shape_handles_.erase(it);
}
}
void PlanningSceneMonitor::excludeWorldObjectFromOctree(const collision_detection::World::ObjectConstPtr& obj)
{
if (!octomap_monitor_)
return;
boost::recursive_mutex::scoped_lock _(shape_handles_lock_);
bool found = false;
for (std::size_t i = 0; i < obj->shapes_.size(); ++i)
{
if (obj->shapes_[i]->type == shapes::PLANE || obj->shapes_[i]->type == shapes::OCTREE)
continue;
occupancy_map_monitor::ShapeHandle h = octomap_monitor_->excludeShape(obj->shapes_[i]);
if (h)
{
collision_body_shape_handles_[obj->id_].push_back(std::make_pair(h, &obj->shape_poses_[i]));
found = true;
}
}
if (found)
RCLCPP_DEBUG(LOGGER, "Excluding collision object '%s' from monitored octomap", obj->id_.c_str());
}
void PlanningSceneMonitor::includeWorldObjectInOctree(const collision_detection::World::ObjectConstPtr& obj)
{
if (!octomap_monitor_)
return;
boost::recursive_mutex::scoped_lock _(shape_handles_lock_);
CollisionBodyShapeHandles::iterator it = collision_body_shape_handles_.find(obj->id_);
if (it != collision_body_shape_handles_.end())
{
for (std::pair<occupancy_map_monitor::ShapeHandle, const Eigen::Isometry3d*>& shape_handle : it->second)
octomap_monitor_->forgetShape(shape_handle.first);
RCLCPP_DEBUG(LOGGER, "Including collision object '%s' in monitored octomap", obj->id_.c_str());
collision_body_shape_handles_.erase(it);
}
}
void PlanningSceneMonitor::currentStateAttachedBodyUpdateCallback(moveit::core::AttachedBody* attached_body,
bool just_attached)
{
if (!octomap_monitor_)
return;
if (just_attached)
excludeAttachedBodyFromOctree(attached_body);
else
includeAttachedBodyInOctree(attached_body);
}
void PlanningSceneMonitor::currentWorldObjectUpdateCallback(const collision_detection::World::ObjectConstPtr& obj,
collision_detection::World::Action action)
{
if (!octomap_monitor_)
return;
if (obj->id_ == planning_scene::PlanningScene::OCTOMAP_NS)
return;
if (action & collision_detection::World::CREATE)
excludeWorldObjectFromOctree(obj);
else if (action & collision_detection::World::DESTROY)
includeWorldObjectInOctree(obj);
else
{
excludeWorldObjectFromOctree(obj);
includeWorldObjectInOctree(obj);
}
}
bool PlanningSceneMonitor::waitForCurrentRobotState(const rclcpp::Time& t, double wait_time)
{
if (t.nanoseconds() == 0)
return false;
auto start = std::chrono::system_clock::now();
auto timeout = std::chrono::duration<double>(wait_time);
RCLCPP_DEBUG(LOGGER, "sync robot state to: %.3fs", fmod(t.seconds(), 10.));
if (current_state_monitor_)
{
// Wait for next robot update in state monitor.
bool success = current_state_monitor_->waitForCurrentState(t, wait_time);
/* As robot updates are passed to the planning scene only in throttled fashion, there might
be still an update pending. If so, explicitly update the planning scene here.
If waitForCurrentState failed, we didn't get any new state updates within wait_time. */
if (success)
{
std::unique_lock<std::mutex> lock(state_pending_mutex_);
if (state_update_pending_) // enforce state update
{
state_update_pending_ = false;
last_robot_state_update_wall_time_ = std::chrono::system_clock::now();