Provide a tool to generate arbitrary constraint db

Previously, we only shipped a demo_construct_state_database.cpp
that hard-coded all parameters for a specific setup.

This work generalizes the code and provides a utility that
can be configured via ROS parameters.

Assuming a MoveIt configuration is running,
an example launch file to use the utility might look like this:

<launch>
  <node name="generate_state_database" pkg="moveit_planners_ompl" type="generate_state_database" output="screen">
    <param name="use_current_scene" value="false"/>
    <param name="planning_group" value="arm"/>
    <remap from="~output_folder" to="move_group/constraint_approximations_path"/>

<rosparam ns="constraints">
path_constraint:
  name: tool0_upright
  constraints:
  - type: orientation
    frame_id: world
    link_name: tool0
    orientation: [0, 0, 0]
    tolerances: [0.01, 0.01, 3.15]
    weight: 1.0
</rosparam>

  </node>
</launch>

moveit_planners/ompl/ompl_interface/CMakeLists.txt

@@ -31,15 +31,16 @@ add_executable(moveit_ompl_planner src/ompl_planner.cpp)
 target_link_libraries(moveit_ompl_planner ${MOVEIT_LIB_NAME})
 set_target_properties(moveit_ompl_planner PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
 
-add_executable(moveit_demo_construct_constraints_database src/demo_construct_state_database.cpp)
-target_link_libraries(moveit_demo_construct_constraints_database ${MOVEIT_LIB_NAME})
-set_target_properties(moveit_demo_construct_constraints_database PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
+add_executable(moveit_generate_state_database src/generate_state_database.cpp)
+target_link_libraries(moveit_generate_state_database ${MOVEIT_LIB_NAME})
+set_target_properties(moveit_generate_state_database PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
+set_target_properties(moveit_generate_state_database PROPERTIES OUTPUT_NAME "generate_state_database")
 
 add_library(moveit_ompl_planner_plugin src/ompl_planner_manager.cpp)
 set_target_properties(moveit_ompl_planner_plugin PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
 target_link_libraries(moveit_ompl_planner_plugin ${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-install(TARGETS ${MOVEIT_LIB_NAME} moveit_ompl_planner moveit_ompl_planner_plugin
+install(TARGETS ${MOVEIT_LIB_NAME} moveit_ompl_planner moveit_ompl_planner_plugin moveit_generate_state_database
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 install(DIRECTORY include/ DESTINATION include)

moveit_planners/ompl/ompl_interface/src/generate_state_database.cpp

@@ -0,0 +1,178 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2011, Willow Garage, Inc.
+ *  Copyright (c) 2018, Michael 'v4hn' Goerner
+ *  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.
+ *********************************************************************/
+
+/* Authors: Ioan Sucan, Michael Goerner */
+
+#include <tf/transform_datatypes.h>
+#include <moveit/ompl_interface/ompl_interface.h>
+#include <moveit/robot_model_loader/robot_model_loader.h>
+#include <moveit/profiler/profiler.h>
+
+#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
+
+#include <moveit/kinematic_constraints/utils.h>
+
+#include <boost/math/constants/constants.hpp>
+#include <sstream>
+
+static const std::string LOGNAME = "generate_state_database";
+
+static const std::string ROBOT_DESCRIPTION = "robot_description";
+
+static const std::string CONSTRAINT_PARAMETER = "constraints";
+
+struct GenerateStateDatabaseParameters
+{
+  bool setFromHandle(ros::NodeHandle& nh)
+  {
+    use_current_scene = nh.param("use_current_scene", false);
+
+    // number of states in joint space approximation
+    construction_opts.samples = nh.param("state_cnt", 10000);
+
+    // generate edges together with states?
+    construction_opts.edges_per_sample = nh.param("edges_per_sample", 0);
+    construction_opts.max_edge_length = nh.param("max_edge_length", 0.2);
+
+    // verify constraint validity on edges
+    construction_opts.explicit_motions = nh.param("explicit_motions", true);
+    construction_opts.explicit_points_resolution = nh.param("explicit_points_resolution", 0.05);
+    construction_opts.max_explicit_points = nh.param("max_explicit_points", 200);
+
+    // local planning in JointModel state space
+    construction_opts.state_space_parameterization =
+        nh.param<std::string>("state_space_parameterization", "JointModel");
+
+    output_folder = nh.param<std::string>("output_folder", "constraint_approximations_database");
+
+    if (!nh.getParam("planning_group", planning_group))
+    {
+      ROS_FATAL_NAMED(LOGNAME, "~planning_group parameter has to be specified.");
+      return false;
+    }
+
+    XmlRpc::XmlRpcValue constraint_description;
+    if (!nh.getParam(CONSTRAINT_PARAMETER, constraint_description) ||
+        !kinematic_constraints::constructConstraints(constraint_description, constraints))
+    {
+      ROS_FATAL_STREAM_NAMED(LOGNAME,
+                             "Could not find valid constraint description in parameter '"
+                                 << nh.resolveName(CONSTRAINT_PARAMETER)
+                                 << "'. "
+                                    "Please upload correct correct constraint description or remap the parameter.");
+      return false;
+    }
+
+    return true;
+  };
+
+  std::string planning_group;
+
+  // path to folder for generated database
+  std::string output_folder;
+
+  // request the current scene via get_planning_scene service
+  bool use_current_scene;
+
+  // constraints the approximation should satisfy
+  moveit_msgs::Constraints constraints;
+
+  // internal parameters of approximation generator
+  ompl_interface::ConstraintApproximationConstructionOptions construction_opts;
+};
+
+void computeDB(const planning_scene::PlanningScenePtr& scene, struct GenerateStateDatabaseParameters& params)
+{
+  // required by addConstraintApproximation
+  scene->getCurrentStateNonConst().update();
+
+  ompl_interface::OMPLInterface ompl_interface(scene->getRobotModel());
+
+  ROS_INFO_STREAM_NAMED(LOGNAME, "Generating Joint Space Constraint Approximation Database for constraint:\n"
+                                     << params.constraints);
+
+  ompl_interface::ConstraintApproximationConstructionResults result =
+      ompl_interface.getConstraintsLibrary().addConstraintApproximation(params.constraints, params.planning_group,
+                                                                        scene, params.construction_opts);
+
+  if (!result.approx)
+  {
+    ROS_FATAL_NAMED(LOGNAME, "Failed to generate approximation.");
+    return;
+  }
+  ompl_interface.getConstraintsLibrary().saveConstraintApproximations(params.output_folder);
+  ROS_INFO_STREAM_NAMED(LOGNAME,
+                        "Successfully generated Joint Space Constraint Approximation Database for constraint:\n"
+                            << params.constraints);
+  ROS_INFO_STREAM_NAMED(LOGNAME, "The database has been saved in your local folder '" << params.output_folder << "'");
+}
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "construct_tool_constraint_database", ros::init_options::AnonymousName);
+
+  ros::AsyncSpinner spinner(1);
+  spinner.start();
+
+  ros::NodeHandle nh("~");
+
+  GenerateStateDatabaseParameters params;
+  if (!params.setFromHandle(nh))
+    return 1;
+
+  planning_scene_monitor::PlanningSceneMonitor psm(ROBOT_DESCRIPTION);
+  if (!psm.getRobotModel())
+    return 1;
+
+  if (params.use_current_scene)
+  {
+    ROS_INFO_NAMED(LOGNAME, "Requesting current planning scene to generate database");
+    if (!psm.requestPlanningSceneState())
+    {
+      ROS_FATAL_NAMED(LOGNAME, "Abort. The current scene could not be retrieved.");
+      return 1;
+    }
+  }
+
+  if (kinematic_constraints::isEmpty(params.constraints))
+  {
+    ROS_FATAL_NAMED(LOGNAME, "Abort. Constraint description is an empty set of constraints.");
+    return 1;
+  }
+
+  computeDB(psm.getPlanningScene(), params);
+
+  return 0;
+}