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Planning interface, port to ROS 2 #61

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merged 2 commits into from
Apr 8, 2019
Merged

Planning interface, port to ROS 2 #61

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dd4e24b
Port planning_interface to ROS 2
vmayoral Mar 30, 2019
3d03f3d
planning_interface, adapt logger to https://github.com/ros-planning/m…
vmayoral Mar 30, 2019
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17 changes: 10 additions & 7 deletions moveit_core/planning_interface/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -5,12 +5,15 @@ add_library(${MOVEIT_LIB_NAME}
src/planning_response.cpp
)
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")

target_link_libraries(${MOVEIT_LIB_NAME} moveit_robot_state moveit_robot_trajectory ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${Boost_LIBRARIES})
add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
ament_target_dependencies(${MOVEIT_LIB_NAME}
urdf
visualization_msgs
moveit_robot_state
moveit_robot_trajectory
urdfdom
urdfdom_headers)

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

install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib)
install(DIRECTORY include/ DESTINATION include)
1 change: 1 addition & 0 deletions moveit_core/planning_interface/include/moveit/planning_interface/planning_interface.h
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Expand Up @@ -42,6 +42,7 @@
#include <moveit/planning_interface/planning_response.h>
#include <string>
#include <map>
#include "rclcpp/rclcpp.hpp"

namespace planning_scene
{
Expand Down
2 changes: 1 addition & 1 deletion moveit_core/planning_interface/include/moveit/planning_interface/planning_request.h
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Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@
#ifndef MOVEIT_PLANNING_INTERFACE_PLANNING_REQUEST_
#define MOVEIT_PLANNING_INTERFACE_PLANNING_REQUEST_

#include <moveit_msgs/MotionPlanRequest.h>
#include <moveit_msgs/msg/motion_plan_request.hpp>

namespace planning_interface
{
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6 changes: 3 additions & 3 deletions moveit_core/planning_interface/include/moveit/planning_interface/planning_response.h
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Original file line number Diff line number Diff line change
Expand Up @@ -38,9 +38,9 @@
#define MOVEIT_PLANNING_INTERFACE_PLANNING_RESPONSE_

#include <moveit/robot_trajectory/robot_trajectory.h>
#include <moveit_msgs/MoveItErrorCodes.h>
#include <moveit_msgs/MotionPlanResponse.h>
#include <moveit_msgs/MotionPlanDetailedResponse.h>
#include <moveit_msgs/msg/move_it_error_codes.hpp>
#include <moveit_msgs/msg/motion_plan_response.hpp>
#include <moveit_msgs/msg/motion_plan_detailed_response.hpp>

namespace planning_interface
{
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8 changes: 5 additions & 3 deletions moveit_core/planning_interface/src/planning_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,8 @@

namespace planning_interface
{
rclcpp::Logger LOGGER = rclcpp::get_logger("moveit").get_child("planning_interface");

namespace
{
// keep track of currently active contexts
Expand Down Expand Up @@ -80,13 +82,13 @@ void PlanningContext::setMotionPlanRequest(const MotionPlanRequest& request)
request_ = request;
if (request_.allowed_planning_time <= 0.0)
{
ROS_INFO_NAMED("planning_interface",
RCLCPP_INFO(LOGGER,
"The timeout for planning must be positive (%lf specified). Assuming one second instead.",
request_.allowed_planning_time);
request_.allowed_planning_time = 1.0;
}
if (request_.num_planning_attempts < 0)
ROS_ERROR_NAMED("planning_interface", "The number of desired planning attempts should be positive. "
RCLCPP_ERROR(LOGGER, "The number of desired planning attempts should be positive. "
"Assuming one attempt.");
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clang format will fix this for you

request_.num_planning_attempts = std::max(1, request_.num_planning_attempts);
}
Expand Down Expand Up @@ -127,4 +129,4 @@ void PlannerManager::terminate() const
(*it)->terminate();
}

} // end of namespace planning_interface
} // end of namespace planning_interface