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Port kinematic_constraints to ROS2 #42

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merged 15 commits into from
Jun 25, 2019
Merged

Port kinematic_constraints to ROS2 #42

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7cdb756
Port kinematic_constraints to ROS2
vmayoral Mar 10, 2019
0f079c9
Merge branch 'moveit2' into kinematic-constraints
vmayoral Mar 30, 2019
5ace7e8
kinematic-constraints, first steps towards unit tests
vmayoral Mar 30, 2019
8d49463
Fixing kinematic constraints tests
ahcorde Apr 26, 2019
d70f888
kinematic_constraints adding library dependencies
ahcorde May 8, 2019
beb3bca
moveit_core kinematics_constraints - addressing some issues
ahcorde May 24, 2019
61cdfba
Merge branch 'master' into kinematic-constraints
ahcorde May 24, 2019
6b1dd61
moveit_core kinematics_constraints - logger_kinematic_constraints to …
ahcorde May 29, 2019
57f271e
moveit_core kinematics_constraints - remove duplicated getMarkers
ahcorde May 29, 2019
c6aa8e6
moveit_core kinematics_constraints - fix whitespaces in CMakeLists.txt
ahcorde May 29, 2019
df09d3a
moveit_core kinematics_constraints - fix whitespaces in CMakeLists.txt
ahcorde May 29, 2019
da78630
moveit_core kinematic_constraints - Fix getMarkers header
ahcorde May 30, 2019
b3855c3
moveit_core kinematics constraints - converting boost to std
ahcorde Jun 4, 2019
4ff5652
Merge branch 'master' into kinematic-constraints
ahcorde Jun 4, 2019
f4a7b2d
Remove not necessary stamp
anasarrak Jun 6, 2019
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54 changes: 44 additions & 10 deletions moveit_core/kinematic_constraints/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,25 +1,59 @@
set(MOVEIT_LIB_NAME moveit_kinematic_constraints)

add_library(${MOVEIT_LIB_NAME}
if(WIN32)
# set(append_library_dirs "$<TARGET_FILE_DIR:${PROJECT_NAME}>;$<TARGET_FILE_DIR:${PROJECT_NAME}_TestPlugins1>")
else()
set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR};${CMAKE_CURRENT_BINARY_DIR}/../utils;${CMAKE_CURRENT_BINARY_DIR}/../robot_model;${CMAKE_CURRENT_BINARY_DIR}/../robot_state;${CMAKE_CURRENT_BINARY_DIR}/../collision_detection_fcl")
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Hardcoding relative paths is a bad idea.

I would recommend that for every library in this package that is used else ware you set a <lib_name>_lib_dir environment variable that can then be used by the tests

A good example is the rcl_lib_dir I have taken the time to show how it is used below:

/home/mike/ws_ros2/src/ros2/rcl/rcl/CMakeLists.txt:
   78  
   79: # rcl_lib_dir is passed as APPEND_LIBRARY_DIRS for each ament_add_gtest call so
   80  # the librcl that they link against is on the library path.
   81  # This is especially important on Windows.
   82  # This is overwritten each loop, but which one it points to doesn't really matter.
   83: set(rcl_lib_dir "$<TARGET_FILE_DIR:${PROJECT_NAME}>")
   84  

/home/mike/ws_ros2/src/ros2/rcl/rcl/test/CMakeLists.txt:
   16  
   17: set(extra_lib_dirs "${rcl_lib_dir}")
   18  
   
/home/mike/ws_ros2/src/ros2/rcl/rcl/test/CMakeLists.txt:
   34    rcl_add_custom_gtest(test_client${target_suffix}
   35      SRCS rcl/test_client.cpp
   36:     INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
   37      ENV ${rmw_implementation_env_var}
   38      APPEND_LIBRARY_DIRS ${extra_lib_dirs}

The example uses rcl_add_custom_gtest but it works just as well with ament_add_gtest

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If you don't mind I prefer to merge this. And then I will fix them all together. Because we have other merged that use this style. I can open an issue to avoid forgetting it.

endif()

add_library(${MOVEIT_LIB_NAME} SHARED
src/kinematic_constraint.cpp
src/utils.cpp)

set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")

ament_target_dependencies(${MOVEIT_LIB_NAME}
urdf
urdfdom
urdfdom_headers
tf2_geometry_msgs
visualization_msgs
tf2_eigen
)

target_link_libraries(${MOVEIT_LIB_NAME}
moveit_robot_model moveit_kinematics_base moveit_robot_state moveit_collision_detection_fcl moveit_utils
${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${Boost_LIBRARIES})
add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
moveit_collision_detection_fcl
moveit_kinematics_base
moveit_robot_state
moveit_robot_model
)


install(TARGETS ${MOVEIT_LIB_NAME}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib)

install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
install(DIRECTORY include/ DESTINATION include)

if(CATKIN_ENABLE_TESTING)
if(BUILD_TESTING)
find_package(ament_cmake_gtest REQUIRED)
find_package(moveit_resources REQUIRED)
find_package(resource_retriever REQUIRED)

include_directories(${moveit_resources_INCLUDE_DIRS})

catkin_add_gtest(test_constraints test/test_constraints.cpp)
target_link_libraries(test_constraints moveit_test_utils ${MOVEIT_LIB_NAME})
ament_add_gtest(test_constraints test/test_constraints.cpp
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APPEND_LIBRARY_DIRS "${append_library_dirs}")

target_link_libraries(test_constraints
moveit_kinematic_constraints
moveit_collision_detection_fcl
moveit_robot_model
moveit_robot_state
moveit_utils
moveit_test_utils
${geometric_shapes_LIBRARIES}
resource_retriever::resource_retriever
${MOVEIT_LIB_NAME}
)
endif()
20 changes: 19 additions & 1 deletion ...it_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
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Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,10 @@
#include <iostream>
#include <vector>

#include "rclcpp/clock.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp/duration.hpp"

/** \brief Representation and evaluation of kinematic constraints */
namespace kinematic_constraints
{
Expand Down Expand Up @@ -814,7 +818,20 @@ class VisibilityConstraint : public KinematicConstraint
* @param [in] state The state from which to produce the markers
* @param [out] markers The marker array to which the markers will be added
*/
void getMarkers(const robot_state::RobotState& state, visualization_msgs::MarkerArray& markers) const;
void getMarkers(const robot_state::RobotState& state, visualization_msgs::msg::MarkerArray& markers) const;

/**
* \brief Adds markers associated with the visibility cone, sensor
* and target to the visualization array
*
* The visibility cone and two arrows - a blue array that issues
* from the sensor_view_direction of the sensor, and a red arrow the
* issues along the Z axis of the the target frame.
*
* @param [in] state The state from which to produce the markers
* @param [out] markers The marker array to which the markers will be added
*/
void getMarkers(const robot_state::RobotState& state, visualization_msgs::msg::MarkerArray& markers);
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bool enabled() const override;
ConstraintEvaluationResult decide(const robot_state::RobotState& state, bool verbose = false) const override;
Expand Down Expand Up @@ -846,6 +863,7 @@ class VisibilityConstraint : public KinematicConstraint
double target_radius_; /**< \brief Storage for the target radius */
double max_view_angle_; /**< \brief Storage for the max view angle */
double max_range_angle_; /**< \brief Storage for the max range angle */
rclcpp::Clock clock_ros_; /**< \brief ros2 clock for the time */
};

MOVEIT_CLASS_FORWARD(KinematicConstraintSet);
Expand Down
21 changes: 11 additions & 10 deletions moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/utils.h
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Original file line number Diff line number Diff line change
Expand Up @@ -38,9 +38,9 @@
#define MOVEIT_KINEMATIC_CONSTRAINTS_UTILS_

#include <moveit_msgs/msg/motion_plan_request.hpp>
#include <geometry_msgs/PointStamped.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/QuaternionStamped.h>
#include <geometry_msgs/msg/point_stamped.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <geometry_msgs/msg/quaternion_stamped.hpp>
#include <moveit/robot_state/robot_state.h>
#include <limits>

Expand Down Expand Up @@ -118,7 +118,7 @@ moveit_msgs::msg::Constraints constructGoalConstraints(const robot_state::RobotS
*
* @return A full constraint message containing both constraints
*/
moveit_msgs::msg::Constraints constructGoalConstraints(const std::string& link_name, const geometry_msgs::PoseStamped& pose,
moveit_msgs::msg::Constraints constructGoalConstraints(const std::string& link_name, const geometry_msgs::msg::PoseStamped& pose,
double tolerance_pos = 1e-3, double tolerance_angle = 1e-2);

/**
Expand All @@ -136,7 +136,7 @@ moveit_msgs::msg::Constraints constructGoalConstraints(const std::string& link_n
*
* @return A full constraint message containing both constraints
*/
moveit_msgs::msg::Constraints constructGoalConstraints(const std::string& link_name, const geometry_msgs::PoseStamped& pose,
moveit_msgs::msg::Constraints constructGoalConstraints(const std::string& link_name, const geometry_msgs::msg::PoseStamped& pose,
const std::vector<double>& tolerance_pos,
const std::vector<double>& tolerance_angle);

Expand All @@ -152,7 +152,7 @@ moveit_msgs::msg::Constraints constructGoalConstraints(const std::string& link_n
* @return A full constraint message containing the orientation constraint
*/
moveit_msgs::msg::Constraints constructGoalConstraints(const std::string& link_name,
const geometry_msgs::QuaternionStamped& quat,
const geometry_msgs::msg::QuaternionStamped& quat,
double tolerance = 1e-2);

/**
Expand All @@ -169,8 +169,8 @@ moveit_msgs::msg::Constraints constructGoalConstraints(const std::string& link_n
* @return A full constraint message containing the position constraint
*/
moveit_msgs::msg::Constraints constructGoalConstraints(const std::string& link_name,
const geometry_msgs::Point& reference_point,
const geometry_msgs::PointStamped& goal_point,
const geometry_msgs::msg::Point& reference_point,
const geometry_msgs::msg::PointStamped& goal_point,
double tolerance = 1e-3);

/**
Expand All @@ -186,7 +186,7 @@ moveit_msgs::msg::Constraints constructGoalConstraints(const std::string& link_n
* @return A full constraint message containing the position constraint
*/
moveit_msgs::msg::Constraints constructGoalConstraints(const std::string& link_name,
const geometry_msgs::PointStamped& goal_point,
const geometry_msgs::msg::PointStamped& goal_point,
double tolerance = 1e-3);

/**
Expand All @@ -200,7 +200,8 @@ moveit_msgs::msg::Constraints constructGoalConstraints(const std::string& link_n
*
* @return was the construction successful?
*/
bool constructConstraints(XmlRpc::XmlRpcValue& params, moveit_msgs::msg::Constraints& constraints);
// TODO rework this function
// bool constructConstraints(XmlRpc::XmlRpcValue& params, moveit_msgs::msg::Constraints& constraints);
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Add TODO with missing dependency. Was this removed because xmlrpc is not available? If so, it looks like it is used in the ros1_bridge

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We can actually use the rclcpp parameters to fix these kind of things, or at least, the way that I'm following.

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@v4hn spent a lot of time on this feature. Perhaps you and he can collaborate on the best path for porting this. In the mean time, any time you comment out a feature, please add comments explaining why the feature is being removed and what steps would be necessary before re-enabling the feature

}

#endif
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