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motion_planning_frame_states.cpp
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motion_planning_frame_states.cpp
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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2013, 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: Mario Prats, Ioan Sucan */
#include <moveit/warehouse/state_storage.h>
#include <moveit/motion_planning_rviz_plugin/motion_planning_frame.h>
#include <moveit/motion_planning_rviz_plugin/motion_planning_display.h>
#include <moveit/robot_state/conversions.h>
#include <QMessageBox>
#include <QInputDialog>
#include "ui_motion_planning_rviz_plugin_frame.h"
namespace moveit_rviz_plugin
{
static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit_ros_visualization.motion_planning_frame_states");
void MotionPlanningFrame::populateRobotStatesList()
{
ui_->list_states->clear();
for (std::pair<const std::string, moveit_msgs::msg::RobotState>& robot_state : robot_states_)
{
QListWidgetItem* item = new QListWidgetItem(QString(robot_state.first.c_str()));
ui_->list_states->addItem(item);
}
}
void MotionPlanningFrame::loadStateButtonClicked()
{
if (robot_state_storage_)
{
bool ok;
QString text =
QInputDialog::getText(this, tr("Robot states to load"), tr("Pattern:"), QLineEdit::Normal, ".*", &ok);
if (ok && !text.isEmpty())
{
loadStoredStates(text.toStdString());
}
}
else
{
QMessageBox::warning(this, "Warning", "Not connected to a database.");
}
}
void MotionPlanningFrame::loadStoredStates(const std::string& pattern)
{
std::vector<std::string> names;
try
{
robot_state_storage_->getKnownRobotStates(pattern, names);
}
catch (std::exception& ex)
{
QMessageBox::warning(this, "Cannot query the database",
QString("Wrongly formatted regular expression for robot states: ").append(ex.what()));
return;
}
// Clear the current list
clearStatesButtonClicked();
for (const std::string& name : names)
{
moveit_warehouse::RobotStateWithMetadata rs;
bool got_state = false;
try
{
got_state = robot_state_storage_->getRobotState(rs, name);
}
catch (std::exception& ex)
{
RCLCPP_ERROR(LOGGER, "%s", ex.what());
}
if (!got_state)
continue;
// Overwrite if exists.
if (robot_states_.find(name) != robot_states_.end())
{
robot_states_.erase(name);
}
// Store the current start state
robot_states_.insert(RobotStatePair(name, *rs));
}
populateRobotStatesList();
}
void MotionPlanningFrame::saveRobotStateButtonClicked(const moveit::core::RobotState& state)
{
bool ok = false;
std::stringstream ss;
ss << planning_display_->getRobotModel()->getName().c_str() << "_state_" << std::setfill('0') << std::setw(4)
<< robot_states_.size();
QString text = QInputDialog::getText(this, tr("Choose a name"), tr("State name:"), QLineEdit::Normal,
QString(ss.str().c_str()), &ok);
std::string name;
if (ok)
{
if (!text.isEmpty())
{
name = text.toStdString();
if (robot_states_.find(name) != robot_states_.end())
QMessageBox::warning(this, "Name already exists",
QString("The name '").append(name.c_str()).append("' already exists. Not creating state."));
else
{
// Store the current start state
moveit_msgs::msg::RobotState msg;
moveit::core::robotStateToRobotStateMsg(state, msg);
robot_states_.insert(RobotStatePair(name, msg));
// Save to the database if connected
if (robot_state_storage_)
{
try
{
robot_state_storage_->addRobotState(msg, name, planning_display_->getRobotModel()->getName());
}
catch (std::exception& ex)
{
RCLCPP_ERROR(LOGGER, "Cannot save robot state on the database: %s", ex.what());
}
}
else
{
QMessageBox::warning(this, "Warning", "Not connected to a database. The state will be created but not stored");
}
}
}
else
QMessageBox::warning(this, "Start state not saved", "Cannot use an empty name for a new start state.");
}
populateRobotStatesList();
}
void MotionPlanningFrame::saveStartStateButtonClicked()
{
saveRobotStateButtonClicked(*planning_display_->getQueryStartState());
}
void MotionPlanningFrame::saveGoalStateButtonClicked()
{
saveRobotStateButtonClicked(*planning_display_->getQueryGoalState());
}
void MotionPlanningFrame::setAsStartStateButtonClicked()
{
QListWidgetItem* item = ui_->list_states->currentItem();
if (item)
{
moveit::core::RobotState robot_state(*planning_display_->getQueryStartState());
moveit::core::robotStateMsgToRobotState(robot_states_[item->text().toStdString()], robot_state);
planning_display_->setQueryStartState(robot_state);
}
}
void MotionPlanningFrame::setAsGoalStateButtonClicked()
{
QListWidgetItem* item = ui_->list_states->currentItem();
if (item)
{
moveit::core::RobotState robot_state(*planning_display_->getQueryGoalState());
moveit::core::robotStateMsgToRobotState(robot_states_[item->text().toStdString()], robot_state);
planning_display_->setQueryGoalState(robot_state);
}
}
void MotionPlanningFrame::removeStateButtonClicked()
{
if (robot_state_storage_)
{
// Warn the user
QMessageBox msg_box;
msg_box.setText("All the selected states will be removed from the database");
msg_box.setInformativeText("Do you want to continue?");
msg_box.setStandardButtons(QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel);
msg_box.setDefaultButton(QMessageBox::No);
int ret = msg_box.exec();
switch (ret)
{
case QMessageBox::Yes:
{
QList<QListWidgetItem*> found_items = ui_->list_states->selectedItems();
for (QListWidgetItem* found_item : found_items)
{
const std::string& name = found_item->text().toStdString();
try
{
robot_state_storage_->removeRobotState(name);
robot_states_.erase(name);
}
catch (std::exception& ex)
{
RCLCPP_ERROR(LOGGER, "%s", ex.what());
}
}
break;
}
}
}
populateRobotStatesList();
}
void MotionPlanningFrame::clearStatesButtonClicked()
{
QMessageBox msg_box;
msg_box.setText("Clear all stored robot states (from memory, not from the database)?");
msg_box.setStandardButtons(QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel);
msg_box.setDefaultButton(QMessageBox::Yes);
int ret = msg_box.exec();
switch (ret)
{
case QMessageBox::Yes:
{
robot_states_.clear();
populateRobotStatesList();
}
break;
}
return;
}
} // namespace moveit_rviz_plugin