cartesian_path_service_capability.cpp

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/* Author: Ioan Sucan */

#include "cartesian_path_service_capability.h"
#include <moveit/robot_state/conversions.h>
#include <moveit/utils/message_checks.h>
#include <moveit/collision_detection/collision_tools.h>
#include <tf2_eigen/tf2_eigen.h>
#include <moveit/move_group/capability_names.h>
#include <moveit/planning_pipeline/planning_pipeline.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/robot_state/cartesian_interpolator.h>
#include <moveit_msgs/msg/display_trajectory.hpp>
#include <moveit/trajectory_processing/iterative_time_parameterization.h>

namespace
{
bool isStateValid(const planning_scene::PlanningScene* planning_scene,
                  const kinematic_constraints::KinematicConstraintSet* constraint_set, moveit::core::RobotState* state,
                  const moveit::core::JointModelGroup* group, const double* ik_solution)
{
  state->setJointGroupPositions(group, ik_solution);
  state->update();
  return (!planning_scene || !planning_scene->isStateColliding(*state, group->getName())) &&
         (!constraint_set || constraint_set->decide(*state).satisfied);
}
}  // namespace

namespace move_group
{
static const rclcpp::Logger LOGGER =
    rclcpp::get_logger("moveit_move_group_default_capabilities.cartersian_path_service_capability");

MoveGroupCartesianPathService::MoveGroupCartesianPathService()
  : MoveGroupCapability("CartesianPathService"), display_computed_paths_(true)
{
}

void MoveGroupCartesianPathService::initialize()
{
  using std::placeholders::_1;
  using std::placeholders::_2;
  using std::placeholders::_3;

  display_path_ = context_->node_->create_publisher<moveit_msgs::msg::DisplayTrajectory>(
      planning_pipeline::PlanningPipeline::DISPLAY_PATH_TOPIC, 10);

  cartesian_path_service_ = context_->node_->create_service<moveit_msgs::srv::GetCartesianPath>(
      CARTESIAN_PATH_SERVICE_NAME, std::bind(&MoveGroupCartesianPathService::computeService, this, _1, _2, _3));
}

bool MoveGroupCartesianPathService::computeService(
    const std::shared_ptr<rmw_request_id_t> request_header,
    const std::shared_ptr<moveit_msgs::srv::GetCartesianPath::Request> req,
    std::shared_ptr<moveit_msgs::srv::GetCartesianPath::Response> res)
{
  RCLCPP_INFO(LOGGER, "Received request to compute Cartesian path");
  context_->planning_scene_monitor_->updateFrameTransforms();

  moveit::core::RobotState start_state =
      planning_scene_monitor::LockedPlanningSceneRO(context_->planning_scene_monitor_)->getCurrentState();
  moveit::core::robotStateMsgToRobotState(req->start_state, start_state);
  if (const moveit::core::JointModelGroup* jmg = start_state.getJointModelGroup(req->group_name))
  {
    std::string link_name = req->link_name;
    if (link_name.empty() && !jmg->getLinkModelNames().empty())
      link_name = jmg->getLinkModelNames().back();

    bool ok = true;
    EigenSTL::vector_Isometry3d waypoints(req->waypoints.size());
    const std::string& default_frame = context_->planning_scene_monitor_->getRobotModel()->getModelFrame();
    bool no_transform = req->header.frame_id.empty() ||
                        moveit::core::Transforms::sameFrame(req->header.frame_id, default_frame) ||
                        moveit::core::Transforms::sameFrame(req->header.frame_id, link_name);

    for (std::size_t i = 0; i < req->waypoints.size(); ++i)
    {
      if (no_transform)
        tf2::fromMsg(req->waypoints[i], waypoints[i]);
      else
      {
        geometry_msgs::msg::PoseStamped p;
        p.header = req->header;
        p.pose = req->waypoints[i];
        if (performTransform(p, default_frame))
          tf2::fromMsg(p.pose, waypoints[i]);
        else
        {
          RCLCPP_ERROR(LOGGER, "Error encountered transforming waypoints to frame '%s'", default_frame.c_str());
          ok = false;
          break;
        }
      }
    }

    if (ok)
    {
      if (req->max_step < std::numeric_limits<double>::epsilon())
      {
        RCLCPP_ERROR(LOGGER, "Maximum step to take between consecutive configrations along Cartesian path"
                             "was not specified (this value needs to be > 0)");
        res->error_code.val = moveit_msgs::msg::MoveItErrorCodes::FAILURE;
      }
      else
      {
        if (!waypoints.empty())
        {
          moveit::core::GroupStateValidityCallbackFn constraint_fn;
          std::unique_ptr<planning_scene_monitor::LockedPlanningSceneRO> ls;
          std::unique_ptr<kinematic_constraints::KinematicConstraintSet> kset;
          if (req->avoid_collisions || !moveit::core::isEmpty(req->path_constraints))
          {
            ls.reset(new planning_scene_monitor::LockedPlanningSceneRO(context_->planning_scene_monitor_));
            kset.reset(new kinematic_constraints::KinematicConstraintSet((*ls)->getRobotModel()));
            kset->add(req->path_constraints, (*ls)->getTransforms());
            constraint_fn = boost::bind(
                &isStateValid,
                req->avoid_collisions ? static_cast<const planning_scene::PlanningSceneConstPtr&>(*ls).get() : nullptr,
                kset->empty() ? nullptr : kset.get(), boost::placeholders::_1, boost::placeholders::_2,
                boost::placeholders::_3);
          }
          bool global_frame = !moveit::core::Transforms::sameFrame(link_name, req->header.frame_id);
          RCLCPP_INFO(LOGGER, "Attempting to follow %u waypoints for link '%s' using a step of %lf m "
                              "and jump threshold %lf (in %s reference frame)",
                      (unsigned int)waypoints.size(), link_name.c_str(), req->max_step, req->jump_threshold,
                      global_frame ? "global" : "link");
          std::vector<moveit::core::RobotStatePtr> traj;
          res->fraction = moveit::core::CartesianInterpolator::computeCartesianPath(
              &start_state, jmg, traj, start_state.getLinkModel(link_name), waypoints, global_frame,
              moveit::core::MaxEEFStep(req->max_step), moveit::core::JumpThreshold(req->jump_threshold), constraint_fn);
          moveit::core::robotStateToRobotStateMsg(start_state, res->start_state);

          robot_trajectory::RobotTrajectory rt(context_->planning_scene_monitor_->getRobotModel(), req->group_name);
          for (const moveit::core::RobotStatePtr& traj_state : traj)
            rt.addSuffixWayPoint(traj_state, 0.0);

          // time trajectory
          // \todo optionally compute timing to move the eef with constant speed
          trajectory_processing::IterativeParabolicTimeParameterization time_param;
          time_param.computeTimeStamps(rt, 1.0);

          rt.getRobotTrajectoryMsg(res->solution);
          RCLCPP_INFO(LOGGER, "Computed Cartesian path with %u points (followed %lf%% of requested trajectory)",
                      (unsigned int)traj.size(), res->fraction * 100.0);
          if (display_computed_paths_ && rt.getWayPointCount() > 0)
          {
            moveit_msgs::msg::DisplayTrajectory disp;
            disp.model_id = context_->planning_scene_monitor_->getRobotModel()->getName();
            disp.trajectory.resize(1, res->solution);
            moveit::core::robotStateToRobotStateMsg(rt.getFirstWayPoint(), disp.trajectory_start);
            display_path_->publish(disp);
          }
        }
        res->error_code.val = moveit_msgs::msg::MoveItErrorCodes::SUCCESS;
      }
    }
    else
      res->error_code.val = moveit_msgs::msg::MoveItErrorCodes::FRAME_TRANSFORM_FAILURE;
  }
  else
    res->error_code.val = moveit_msgs::msg::MoveItErrorCodes::INVALID_GROUP_NAME;

  return true;
}

}  // namespace move_group

#include <pluginlib/class_list_macros.hpp>

PLUGINLIB_EXPORT_CLASS(move_group::MoveGroupCartesianPathService, move_group::MoveGroupCapability)