/
motion_planning_display.cpp
1452 lines (1272 loc) · 52.3 KB
/
motion_planning_display.cpp
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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2008, 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: Ioan Sucan, Dave Coleman, Adam Leeper, Sachin Chitta */
#include <moveit/motion_planning_rviz_plugin/motion_planning_display.h>
#include <moveit/robot_interaction/kinematic_options_map.h>
#include <moveit/rviz_plugin_render_tools/planning_link_updater.h>
#include <moveit/rviz_plugin_render_tools/robot_state_visualization.h>
#include <moveit/macros/diagnostics.h>
DIAGNOSTIC_PUSH
SILENT_UNUSED_PARAM
#include <rviz/visualization_manager.h>
#include <rviz/robot/robot.h>
#include <rviz/robot/robot_link.h>
#include <rviz/properties/property.h>
#include <rviz/properties/string_property.h>
#include <rviz/properties/bool_property.h>
#include <rviz/properties/float_property.h>
#include <rviz/properties/ros_topic_property.h>
#include <rviz/properties/editable_enum_property.h>
#include <rviz/properties/color_property.h>
#include <rviz/display_context.h>
#include <rviz/frame_manager.h>
#include <rviz/panel_dock_widget.h>
#include <rviz/window_manager_interface.h>
#include <rviz/display_factory.h>
#include <rviz/ogre_helpers/movable_text.h>
#include <OgreSceneManager.h>
#include <OgreSceneNode.h>
#include <rviz/ogre_helpers/shape.h>
DIAGNOSTIC_POP
#include <moveit/robot_state/conversions.h>
#include <moveit/trajectory_processing/trajectory_tools.h>
#include <boost/format.hpp>
#include <boost/algorithm/string/replace.hpp>
#include <boost/algorithm/string/trim.hpp>
#include <boost/lexical_cast.hpp>
#include <QShortcut>
#include "ui_motion_planning_rviz_plugin_frame.h"
namespace moveit_rviz_plugin
{
// ******************************************************************************************
// Base class contructor
// ******************************************************************************************
MotionPlanningDisplay::MotionPlanningDisplay()
: PlanningSceneDisplay()
, text_to_display_(nullptr)
, private_handle_("~")
, frame_(nullptr)
, frame_dock_(nullptr)
, menu_handler_start_(new interactive_markers::MenuHandler)
, menu_handler_goal_(new interactive_markers::MenuHandler)
, int_marker_display_(nullptr)
{
// Category Groups
plan_category_ = new rviz::Property("Planning Request", QVariant(), "", this);
metrics_category_ = new rviz::Property("Planning Metrics", QVariant(), "", this);
path_category_ = new rviz::Property("Planned Path", QVariant(), "", this);
// Metrics category -----------------------------------------------------------------------------------------
compute_weight_limit_property_ = new rviz::BoolProperty(
"Show Weight Limit", false, "Shows the weight limit at a particular pose for an end-effector", metrics_category_,
SLOT(changedShowWeightLimit()), this);
show_manipulability_index_property_ =
new rviz::BoolProperty("Show Manipulability Index", false, "Shows the manipulability index for an end-effector",
metrics_category_, SLOT(changedShowManipulabilityIndex()), this);
show_manipulability_property_ =
new rviz::BoolProperty("Show Manipulability", false, "Shows the manipulability for an end-effector",
metrics_category_, SLOT(changedShowManipulability()), this);
show_joint_torques_property_ = new rviz::BoolProperty("Show Joint Torques", false,
"Shows the joint torques for a given configuration and payload",
metrics_category_, SLOT(changedShowJointTorques()), this);
metrics_set_payload_property_ =
new rviz::FloatProperty("Payload", 1.0f, "Specify the payload at the end effector (kg)", metrics_category_,
SLOT(changedMetricsSetPayload()), this);
metrics_set_payload_property_->setMin(0.0);
metrics_text_height_property_ = new rviz::FloatProperty("TextHeight", 0.08f, "Text height", metrics_category_,
SLOT(changedMetricsTextHeight()), this);
metrics_text_height_property_->setMin(0.001);
// Planning request category -----------------------------------------------------------------------------------------
planning_group_property_ = new rviz::EditableEnumProperty(
"Planning Group", "", "The name of the group of links to plan for (from the ones defined in the SRDF)",
plan_category_, SLOT(changedPlanningGroup()), this);
show_workspace_property_ = new rviz::BoolProperty("Show Workspace", false, "Shows the axis-aligned bounding box for "
"the workspace allowed for planning",
plan_category_, SLOT(changedWorkspace()), this);
query_start_state_property_ =
new rviz::BoolProperty("Query Start State", false, "Set a custom start state for the motion planning query",
plan_category_, SLOT(changedQueryStartState()), this);
query_goal_state_property_ =
new rviz::BoolProperty("Query Goal State", true, "Shows the goal state for the motion planning query",
plan_category_, SLOT(changedQueryGoalState()), this);
query_marker_scale_property_ =
new rviz::FloatProperty("Interactive Marker Size", 0.0f,
"Specifies scale of the interactive marker overlayed on the robot. 0 is auto scale.",
plan_category_, SLOT(changedQueryMarkerScale()), this);
query_marker_scale_property_->setMin(0.0f);
query_start_color_property_ =
new rviz::ColorProperty("Start State Color", QColor(0, 255, 0), "The highlight color for the start state",
plan_category_, SLOT(changedQueryStartColor()), this);
query_start_alpha_property_ =
new rviz::FloatProperty("Start State Alpha", 1.0f, "Specifies the alpha for the robot links", plan_category_,
SLOT(changedQueryStartAlpha()), this);
query_start_alpha_property_->setMin(0.0);
query_start_alpha_property_->setMax(1.0);
query_goal_color_property_ =
new rviz::ColorProperty("Goal State Color", QColor(250, 128, 0), "The highlight color for the goal state",
plan_category_, SLOT(changedQueryGoalColor()), this);
query_goal_alpha_property_ =
new rviz::FloatProperty("Goal State Alpha", 1.0f, "Specifies the alpha for the robot links", plan_category_,
SLOT(changedQueryGoalAlpha()), this);
query_goal_alpha_property_->setMin(0.0);
query_goal_alpha_property_->setMax(1.0);
query_colliding_link_color_property_ =
new rviz::ColorProperty("Colliding Link Color", QColor(255, 0, 0), "The highlight color for colliding links",
plan_category_, SLOT(changedQueryCollidingLinkColor()), this);
query_outside_joint_limits_link_color_property_ =
new rviz::ColorProperty("Joint Violation Color", QColor(255, 0, 255),
"The highlight color for child links of joints that are outside bounds", plan_category_,
SLOT(changedQueryJointViolationColor()), this);
// Trajectory playback / planned path category ---------------------------------------------
trajectory_visual_.reset(new TrajectoryVisualization(path_category_, this));
// Start background jobs
background_process_.setJobUpdateEvent(boost::bind(&MotionPlanningDisplay::backgroundJobUpdate, this, _1, _2));
}
// ******************************************************************************************
// Deconstructor
// ******************************************************************************************
MotionPlanningDisplay::~MotionPlanningDisplay()
{
background_process_.clearJobUpdateEvent();
clearJobs();
query_robot_start_.reset();
query_robot_goal_.reset();
delete text_to_display_;
delete int_marker_display_;
if (frame_dock_)
delete frame_dock_;
}
void MotionPlanningDisplay::onInitialize()
{
PlanningSceneDisplay::onInitialize();
// Planned Path Display
trajectory_visual_->onInitialize(planning_scene_node_, context_, update_nh_);
QColor qcolor = attached_body_color_property_->getColor();
trajectory_visual_->setDefaultAttachedObjectColor(qcolor);
query_robot_start_.reset(
new RobotStateVisualization(planning_scene_node_, context_, "Planning Request Start", nullptr));
query_robot_start_->setCollisionVisible(false);
query_robot_start_->setVisualVisible(true);
query_robot_start_->setVisible(query_start_state_property_->getBool());
std_msgs::ColorRGBA color;
qcolor = query_start_color_property_->getColor();
color.r = qcolor.redF();
color.g = qcolor.greenF();
color.b = qcolor.blueF();
color.a = 1.0f;
query_robot_start_->setDefaultAttachedObjectColor(color);
query_robot_goal_.reset(
new RobotStateVisualization(planning_scene_node_, context_, "Planning Request Goal", nullptr));
query_robot_goal_->setCollisionVisible(false);
query_robot_goal_->setVisualVisible(true);
query_robot_goal_->setVisible(query_goal_state_property_->getBool());
qcolor = query_goal_color_property_->getColor();
color.r = qcolor.redF();
color.g = qcolor.greenF();
color.b = qcolor.blueF();
query_robot_goal_->setDefaultAttachedObjectColor(color);
rviz::WindowManagerInterface* window_context = context_->getWindowManager();
frame_ = new MotionPlanningFrame(this, context_, window_context ? window_context->getParentWindow() : nullptr);
connect(frame_, SIGNAL(configChanged()), this->getModel(), SIGNAL(configChanged()));
resetStatusTextColor();
addStatusText("Initialized.");
// immediately switch to next trajectory display after planning
connect(frame_, SIGNAL(planningFinished()), trajectory_visual_.get(), SLOT(interruptCurrentDisplay()));
if (window_context)
{
frame_dock_ = window_context->addPane(getName(), frame_);
connect(frame_dock_, SIGNAL(visibilityChanged(bool)), this, SLOT(motionPanelVisibilityChange(bool)));
frame_dock_->setIcon(getIcon());
}
int_marker_display_ = context_->getDisplayFactory()->make("rviz/InteractiveMarkers");
int_marker_display_->initialize(context_);
text_display_scene_node_ = planning_scene_node_->createChildSceneNode();
text_to_display_ = new rviz::MovableText("EMPTY");
text_to_display_->setTextAlignment(rviz::MovableText::H_CENTER, rviz::MovableText::V_CENTER);
text_to_display_->setCharacterHeight(metrics_text_height_property_->getFloat());
text_to_display_->showOnTop();
text_to_display_->setVisible(false);
text_display_for_start_ = false;
text_display_scene_node_->attachObject(text_to_display_);
if (context_ && context_->getWindowManager() && context_->getWindowManager()->getParentWindow())
{
QShortcut* im_reset_shortcut =
new QShortcut(QKeySequence("Ctrl+I"), context_->getWindowManager()->getParentWindow());
connect(im_reset_shortcut, SIGNAL(activated()), this, SLOT(resetInteractiveMarkers()));
}
}
void MotionPlanningDisplay::motionPanelVisibilityChange(bool enable)
{
if (enable)
setEnabled(true);
}
void MotionPlanningDisplay::toggleSelectPlanningGroupSubscription(bool enable)
{
if (enable)
{
planning_group_sub_ = node_handle_.subscribe("/rviz/moveit/select_planning_group", 1,
&MotionPlanningDisplay::selectPlanningGroupCallback, this);
}
else
{
planning_group_sub_.shutdown();
}
}
void MotionPlanningDisplay::selectPlanningGroupCallback(const std_msgs::StringConstPtr& msg)
{
// synchronize ROS callback with main loop
addMainLoopJob(boost::bind(&MotionPlanningDisplay::changePlanningGroup, this, msg->data));
}
void MotionPlanningDisplay::reset()
{
text_to_display_->setVisible(false);
query_robot_start_->clear();
query_robot_goal_->clear();
PlanningSceneDisplay::reset();
// Planned Path Display
trajectory_visual_->reset();
frame_->disable();
frame_->enable();
query_robot_start_->setVisible(query_start_state_property_->getBool());
query_robot_goal_->setVisible(query_goal_state_property_->getBool());
}
void MotionPlanningDisplay::setName(const QString& name)
{
BoolProperty::setName(name);
if (frame_dock_)
{
frame_dock_->setWindowTitle(name);
frame_dock_->setObjectName(name);
}
trajectory_visual_->setName(name);
}
void MotionPlanningDisplay::backgroundJobUpdate(moveit::tools::BackgroundProcessing::JobEvent /*unused*/,
const std::string& /*unused*/)
{
addMainLoopJob(boost::bind(&MotionPlanningDisplay::updateBackgroundJobProgressBar, this));
}
void MotionPlanningDisplay::updateBackgroundJobProgressBar()
{
if (!frame_)
return;
QProgressBar* p = frame_->ui_->background_job_progress;
int n = background_process_.getJobCount();
if (n == 0)
{
p->setValue(p->maximum());
p->update();
p->hide();
p->setMaximum(0);
}
else
{
if (n == 1)
{
if (p->maximum() == 0)
p->setValue(0);
else
p->setValue(p->maximum() - 1);
}
else
{
if (p->maximum() < n)
p->setMaximum(n);
else
p->setValue(p->maximum() - n);
}
p->show();
p->update();
}
}
void MotionPlanningDisplay::changedShowWeightLimit()
{
if (text_display_for_start_)
{
if (query_start_state_property_->getBool())
displayMetrics(true);
}
else
{
if (query_goal_state_property_->getBool())
displayMetrics(false);
}
}
void MotionPlanningDisplay::changedShowManipulabilityIndex()
{
if (text_display_for_start_)
{
if (query_start_state_property_->getBool())
displayMetrics(true);
}
else
{
if (query_goal_state_property_->getBool())
displayMetrics(false);
}
}
void MotionPlanningDisplay::changedShowManipulability()
{
if (text_display_for_start_)
{
if (query_start_state_property_->getBool())
displayMetrics(true);
}
else
{
if (query_goal_state_property_->getBool())
displayMetrics(false);
}
}
void MotionPlanningDisplay::changedShowJointTorques()
{
if (text_display_for_start_)
{
if (query_start_state_property_->getBool())
displayMetrics(true);
}
else
{
if (query_goal_state_property_->getBool())
displayMetrics(false);
}
}
void MotionPlanningDisplay::changedMetricsSetPayload()
{
if (text_display_for_start_)
{
if (query_start_state_property_->getBool())
displayMetrics(true);
}
else
{
if (query_goal_state_property_->getBool())
displayMetrics(false);
}
}
void MotionPlanningDisplay::changedMetricsTextHeight()
{
text_to_display_->setCharacterHeight(metrics_text_height_property_->getFloat());
}
void MotionPlanningDisplay::displayTable(const std::map<std::string, double>& values, const Ogre::ColourValue& color,
const Ogre::Vector3& pos, const Ogre::Quaternion& orient)
{
// the line we want to render
std::stringstream ss;
for (const std::pair<const std::string, double>& value : values)
ss << boost::format("%-10s %-4.2f") % value.first % value.second << std::endl;
if (ss.str().empty())
{
text_to_display_->setVisible(false);
return;
}
text_to_display_->setCaption(ss.str());
text_to_display_->setColor(color);
text_display_scene_node_->setPosition(pos);
text_display_scene_node_->setOrientation(orient);
// make sure the node is visible
text_to_display_->setVisible(true);
}
void MotionPlanningDisplay::renderWorkspaceBox()
{
if (!frame_ || !show_workspace_property_->getBool())
{
if (workspace_box_)
workspace_box_.reset();
return;
}
if (!workspace_box_)
{
workspace_box_.reset(new rviz::Shape(rviz::Shape::Cube, context_->getSceneManager(), planning_scene_node_));
workspace_box_->setColor(0.0f, 0.0f, 0.6f, 0.3f);
}
Ogre::Vector3 center(frame_->ui_->wcenter_x->value(), frame_->ui_->wcenter_y->value(),
frame_->ui_->wcenter_z->value());
Ogre::Vector3 extents(frame_->ui_->wsize_x->value(), frame_->ui_->wsize_y->value(), frame_->ui_->wsize_z->value());
workspace_box_->setScale(extents);
workspace_box_->setPosition(center);
}
void MotionPlanningDisplay::computeMetrics(bool start, const std::string& group, double payload)
{
if (!robot_interaction_)
return;
const std::vector<robot_interaction::EndEffectorInteraction>& eef = robot_interaction_->getActiveEndEffectors();
if (eef.empty())
return;
boost::mutex::scoped_lock slock(update_metrics_lock_);
moveit::core::RobotStateConstPtr state = start ? getQueryStartState() : getQueryGoalState();
for (const robot_interaction::EndEffectorInteraction& ee : eef)
if (ee.parent_group == group)
computeMetricsInternal(computed_metrics_[std::make_pair(start, group)], ee, *state, payload);
}
void MotionPlanningDisplay::computeMetricsInternal(std::map<std::string, double>& metrics,
const robot_interaction::EndEffectorInteraction& ee,
const moveit::core::RobotState& state, double payload)
{
metrics.clear();
dynamics_solver::DynamicsSolverPtr ds;
std::map<std::string, dynamics_solver::DynamicsSolverPtr>::const_iterator it = dynamics_solver_.find(ee.parent_group);
if (it != dynamics_solver_.end())
ds = it->second;
// Max payload
if (ds)
{
double max_payload;
unsigned int saturated_joint;
std::vector<double> joint_values;
state.copyJointGroupPositions(ee.parent_group, joint_values);
if (ds->getMaxPayload(joint_values, max_payload, saturated_joint))
{
metrics["max_payload"] = max_payload;
metrics["saturated_joint"] = saturated_joint;
}
std::vector<double> joint_torques;
joint_torques.resize(joint_values.size());
if (ds->getPayloadTorques(joint_values, payload, joint_torques))
{
for (std::size_t i = 0; i < joint_torques.size(); ++i)
{
std::stringstream stream;
stream << "torque[" << i << "]";
metrics[stream.str()] = joint_torques[i];
}
}
}
if (kinematics_metrics_)
{
if (position_only_ik_.find(ee.parent_group) == position_only_ik_.end())
private_handle_.param(ee.parent_group + "/position_only_ik", position_only_ik_[ee.parent_group], false);
double manipulability_index, manipulability;
bool position_ik = position_only_ik_[ee.parent_group];
if (kinematics_metrics_->getManipulabilityIndex(state, ee.parent_group, manipulability_index, position_ik))
metrics["manipulability_index"] = manipulability_index;
if (kinematics_metrics_->getManipulability(state, ee.parent_group, manipulability))
metrics["manipulability"] = manipulability;
}
}
namespace
{
inline void copyItemIfExists(const std::map<std::string, double>& source, std::map<std::string, double>& dest,
const std::string& key)
{
std::map<std::string, double>::const_iterator it = source.find(key);
if (it != source.end())
dest[key] = it->second;
}
}
void MotionPlanningDisplay::displayMetrics(bool start)
{
if (!robot_interaction_ || !planning_scene_monitor_)
return;
static const Ogre::Quaternion ORIENTATION(1.0, 0.0, 0.0, 0.0);
const std::vector<robot_interaction::EndEffectorInteraction>& eef = robot_interaction_->getActiveEndEffectors();
if (eef.empty())
return;
moveit::core::RobotStateConstPtr state = start ? getQueryStartState() : getQueryGoalState();
for (const robot_interaction::EndEffectorInteraction& ee : eef)
{
Ogre::Vector3 position(0.0, 0.0, 0.0);
std::map<std::string, double> text_table;
const std::map<std::string, double>& metrics_table = computed_metrics_[std::make_pair(start, ee.parent_group)];
if (compute_weight_limit_property_->getBool())
{
copyItemIfExists(metrics_table, text_table, "max_payload");
copyItemIfExists(metrics_table, text_table, "saturated_joint");
}
if (show_manipulability_index_property_->getBool())
copyItemIfExists(metrics_table, text_table, "manipulability_index");
if (show_manipulability_property_->getBool())
copyItemIfExists(metrics_table, text_table, "manipulability");
if (show_joint_torques_property_->getBool())
{
std::size_t nj = getRobotModel()->getJointModelGroup(ee.parent_group)->getJointModelNames().size();
for (size_t j = 0; j < nj; ++j)
{
std::stringstream stream;
stream << "torque[" << j << "]";
copyItemIfExists(metrics_table, text_table, stream.str());
}
}
const moveit::core::LinkModel* lm = nullptr;
const moveit::core::JointModelGroup* jmg = getRobotModel()->getJointModelGroup(ee.parent_group);
if (jmg)
if (!jmg->getLinkModelNames().empty())
lm = state->getLinkModel(jmg->getLinkModelNames().back());
if (lm)
{
const Eigen::Vector3d& t = state->getGlobalLinkTransform(lm).translation();
position[0] = t.x();
position[1] = t.y();
position[2] = t.z() + 0.2; // \todo this should be a param
}
if (start)
displayTable(text_table, query_start_color_property_->getOgreColor(), position, ORIENTATION);
else
displayTable(text_table, query_goal_color_property_->getOgreColor(), position, ORIENTATION);
text_display_for_start_ = start;
}
}
void MotionPlanningDisplay::drawQueryStartState()
{
if (!planning_scene_monitor_)
return;
if (query_start_state_property_->getBool())
{
if (isEnabled())
{
moveit::core::RobotStateConstPtr state = getQueryStartState();
// update link poses
query_robot_start_->update(state);
query_robot_start_->setVisible(true);
// update link colors
std::vector<std::string> collision_links;
getPlanningSceneRO()->getCollidingLinks(collision_links, *state);
status_links_start_.clear();
for (const std::string& collision_link : collision_links)
status_links_start_[collision_link] = COLLISION_LINK;
if (!collision_links.empty())
{
collision_detection::CollisionResult::ContactMap pairs;
getPlanningSceneRO()->getCollidingPairs(pairs, *state);
setStatusTextColor(query_start_color_property_->getColor());
addStatusText("Start state colliding links:");
for (collision_detection::CollisionResult::ContactMap::const_iterator it = pairs.begin(); it != pairs.end();
++it)
addStatusText(it->first.first + " - " + it->first.second);
addStatusText(".");
}
if (!getCurrentPlanningGroup().empty())
{
const moveit::core::JointModelGroup* jmg = state->getJointModelGroup(getCurrentPlanningGroup());
if (jmg)
{
std::vector<std::string> outside_bounds;
const std::vector<const moveit::core::JointModel*>& jmodels = jmg->getActiveJointModels();
for (const moveit::core::JointModel* jmodel : jmodels)
if (!state->satisfiesBounds(jmodel, jmodel->getMaximumExtent() * 1e-2))
{
outside_bounds.push_back(jmodel->getChildLinkModel()->getName());
status_links_start_[outside_bounds.back()] = OUTSIDE_BOUNDS_LINK;
}
if (!outside_bounds.empty())
{
setStatusTextColor(query_start_color_property_->getColor());
addStatusText("Links descending from joints that are outside bounds in start state:");
addStatusText(outside_bounds);
}
}
}
updateLinkColors();
// update metrics text
displayMetrics(true);
}
}
else
query_robot_start_->setVisible(false);
context_->queueRender();
}
void MotionPlanningDisplay::resetStatusTextColor()
{
setStatusTextColor(Qt::darkGray);
}
void MotionPlanningDisplay::setStatusTextColor(const QColor& color)
{
if (frame_)
frame_->ui_->status_text->setTextColor(color);
}
void MotionPlanningDisplay::addStatusText(const std::string& text)
{
if (frame_)
frame_->ui_->status_text->append(QString::fromStdString(text));
}
void MotionPlanningDisplay::addStatusText(const std::vector<std::string>& text)
{
for (const std::string& it : text)
addStatusText(it);
}
void MotionPlanningDisplay::recomputeQueryStartStateMetrics()
{
std::string group = planning_group_property_->getStdString();
if (!group.empty())
computeMetrics(true, group, metrics_set_payload_property_->getFloat());
}
void MotionPlanningDisplay::recomputeQueryGoalStateMetrics()
{
std::string group = planning_group_property_->getStdString();
if (!group.empty())
computeMetrics(false, group, metrics_set_payload_property_->getFloat());
}
void MotionPlanningDisplay::changedQueryStartState()
{
if (!planning_scene_monitor_)
return;
setStatusTextColor(query_start_color_property_->getColor());
addStatusText("Changed start state");
drawQueryStartState();
addBackgroundJob(boost::bind(&MotionPlanningDisplay::publishInteractiveMarkers, this, true),
"publishInteractiveMarkers");
}
void MotionPlanningDisplay::changedQueryGoalState()
{
if (!planning_scene_monitor_)
return;
setStatusTextColor(query_goal_color_property_->getColor());
addStatusText("Changed goal state");
drawQueryGoalState();
addBackgroundJob(boost::bind(&MotionPlanningDisplay::publishInteractiveMarkers, this, true),
"publishInteractiveMarkers");
}
void MotionPlanningDisplay::drawQueryGoalState()
{
if (!planning_scene_monitor_)
return;
if (query_goal_state_property_->getBool())
{
if (isEnabled())
{
moveit::core::RobotStateConstPtr state = getQueryGoalState();
// update link poses
query_robot_goal_->update(state);
query_robot_goal_->setVisible(true);
// update link colors
std::vector<std::string> collision_links;
getPlanningSceneRO()->getCollidingLinks(collision_links, *state);
status_links_goal_.clear();
for (const std::string& collision_link : collision_links)
status_links_goal_[collision_link] = COLLISION_LINK;
if (!collision_links.empty())
{
collision_detection::CollisionResult::ContactMap pairs;
getPlanningSceneRO()->getCollidingPairs(pairs, *state);
setStatusTextColor(query_goal_color_property_->getColor());
addStatusText("Goal state colliding links:");
for (collision_detection::CollisionResult::ContactMap::const_iterator it = pairs.begin(); it != pairs.end();
++it)
addStatusText(it->first.first + " - " + it->first.second);
addStatusText(".");
}
if (!getCurrentPlanningGroup().empty())
{
const moveit::core::JointModelGroup* jmg = state->getJointModelGroup(getCurrentPlanningGroup());
if (jmg)
{
const std::vector<const moveit::core::JointModel*>& jmodels = jmg->getActiveJointModels();
std::vector<std::string> outside_bounds;
for (const moveit::core::JointModel* jmodel : jmodels)
if (!state->satisfiesBounds(jmodel, jmodel->getMaximumExtent() * 1e-2))
{
outside_bounds.push_back(jmodel->getChildLinkModel()->getName());
status_links_goal_[outside_bounds.back()] = OUTSIDE_BOUNDS_LINK;
}
if (!outside_bounds.empty())
{
setStatusTextColor(query_goal_color_property_->getColor());
addStatusText("Links descending from joints that are outside bounds in goal state:");
addStatusText(outside_bounds);
}
}
}
updateLinkColors();
// update metrics text
displayMetrics(false);
}
}
else
query_robot_goal_->setVisible(false);
context_->queueRender();
}
void MotionPlanningDisplay::resetInteractiveMarkers()
{
query_start_state_->clearError();
query_goal_state_->clearError();
addBackgroundJob(boost::bind(&MotionPlanningDisplay::publishInteractiveMarkers, this, false),
"publishInteractiveMarkers");
}
void MotionPlanningDisplay::publishInteractiveMarkers(bool pose_update)
{
if (robot_interaction_)
{
if (pose_update &&
robot_interaction_->showingMarkers(query_start_state_) == query_start_state_property_->getBool() &&
robot_interaction_->showingMarkers(query_goal_state_) == query_goal_state_property_->getBool())
{
if (query_start_state_property_->getBool())
robot_interaction_->updateInteractiveMarkers(query_start_state_);
if (query_goal_state_property_->getBool())
robot_interaction_->updateInteractiveMarkers(query_goal_state_);
}
else
{
robot_interaction_->clearInteractiveMarkers();
if (query_start_state_property_->getBool())
robot_interaction_->addInteractiveMarkers(query_start_state_, query_marker_scale_property_->getFloat());
if (query_goal_state_property_->getBool())
robot_interaction_->addInteractiveMarkers(query_goal_state_, query_marker_scale_property_->getFloat());
robot_interaction_->publishInteractiveMarkers();
}
if (frame_)
{
frame_->updateExternalCommunication();
}
}
}
void MotionPlanningDisplay::changedQueryStartColor()
{
std_msgs::ColorRGBA color;
QColor qcolor = query_start_color_property_->getColor();
color.r = qcolor.redF();
color.g = qcolor.greenF();
color.b = qcolor.blueF();
color.a = 1.0f;
query_robot_start_->setDefaultAttachedObjectColor(color);
changedQueryStartState();
}
void MotionPlanningDisplay::changedQueryStartAlpha()
{
query_robot_start_->setAlpha(query_start_alpha_property_->getFloat());
changedQueryStartState();
}
void MotionPlanningDisplay::changedQueryMarkerScale()
{
if (!planning_scene_monitor_)
return;
if (isEnabled())
{
// Clear the interactive markers and re-add them:
publishInteractiveMarkers(false);
}
}
void MotionPlanningDisplay::changedQueryGoalColor()
{
std_msgs::ColorRGBA color;
QColor qcolor = query_goal_color_property_->getColor();
color.r = qcolor.redF();
color.g = qcolor.greenF();
color.b = qcolor.blueF();
color.a = 1.0f;
query_robot_goal_->setDefaultAttachedObjectColor(color);
changedQueryGoalState();
}
void MotionPlanningDisplay::changedQueryGoalAlpha()
{
query_robot_goal_->setAlpha(query_goal_alpha_property_->getFloat());
changedQueryGoalState();
}
void MotionPlanningDisplay::changedQueryCollidingLinkColor()
{
changedQueryStartState();
changedQueryGoalState();
}
void MotionPlanningDisplay::changedQueryJointViolationColor()
{
changedQueryStartState();
changedQueryGoalState();
}
void MotionPlanningDisplay::changedAttachedBodyColor()
{
PlanningSceneDisplay::changedAttachedBodyColor();
// forward color to TrajectoryVisualization
const QColor& color = attached_body_color_property_->getColor();
trajectory_visual_->setDefaultAttachedObjectColor(color);
}
void MotionPlanningDisplay::scheduleDrawQueryStartState(robot_interaction::InteractionHandler* /*unused*/,
bool error_state_changed)
{
if (!planning_scene_monitor_)
return;
addBackgroundJob(boost::bind(&MotionPlanningDisplay::publishInteractiveMarkers, this, !error_state_changed),
"publishInteractiveMarkers");
updateQueryStartState();
}
void MotionPlanningDisplay::scheduleDrawQueryGoalState(robot_interaction::InteractionHandler* /*unused*/,
bool error_state_changed)
{
if (!planning_scene_monitor_)
return;
addBackgroundJob(boost::bind(&MotionPlanningDisplay::publishInteractiveMarkers, this, !error_state_changed),
"publishInteractiveMarkers");
updateQueryGoalState();
}
void MotionPlanningDisplay::updateQueryStartState()
{
queryStartStateChanged();
recomputeQueryStartStateMetrics();
addMainLoopJob(boost::bind(&MotionPlanningDisplay::changedQueryStartState, this));
context_->queueRender();
}
void MotionPlanningDisplay::updateQueryGoalState()
{
queryGoalStateChanged();
recomputeQueryGoalStateMetrics();
addMainLoopJob(boost::bind(&MotionPlanningDisplay::changedQueryGoalState, this));
context_->queueRender();
}
void MotionPlanningDisplay::rememberPreviousStartState()
{
*previous_state_ = *query_start_state_->getState();
}
void MotionPlanningDisplay::setQueryStartState(const moveit::core::RobotState& start)
{
query_start_state_->setState(start);
updateQueryStartState();
}
void MotionPlanningDisplay::setQueryGoalState(const moveit::core::RobotState& goal)
{
query_goal_state_->setState(goal);
updateQueryGoalState();
}
void MotionPlanningDisplay::useApproximateIK(bool flag)
{
if (robot_interaction_)
{
robot_interaction::KinematicOptions o;
o.options_.return_approximate_solution = flag;
robot_interaction_->getKinematicOptionsMap()->setOptions(
robot_interaction::KinematicOptionsMap::DEFAULT, o,
robot_interaction::KinematicOptions::RETURN_APPROXIMATE_SOLUTION);
}
}
bool MotionPlanningDisplay::isIKSolutionCollisionFree(moveit::core::RobotState* state,
const moveit::core::JointModelGroup* group,
const double* ik_solution) const
{
if (frame_->ui_->collision_aware_ik->isChecked() && planning_scene_monitor_)
{
state->setJointGroupPositions(group, ik_solution);
state->update();
bool res = !getPlanningSceneRO()->isStateColliding(*state, group->getName());
return res;
}
else
return true;
}
void MotionPlanningDisplay::updateLinkColors()
{
unsetAllColors(&query_robot_start_->getRobot());
unsetAllColors(&query_robot_goal_->getRobot());
std::string group = planning_group_property_->getStdString();
if (!group.empty())
{
setGroupColor(&query_robot_start_->getRobot(), group, query_start_color_property_->getColor());
setGroupColor(&query_robot_goal_->getRobot(), group, query_goal_color_property_->getColor());
for (std::map<std::string, LinkDisplayStatus>::const_iterator it = status_links_start_.begin();
it != status_links_start_.end(); ++it)
if (it->second == COLLISION_LINK)
setLinkColor(&query_robot_start_->getRobot(), it->first, query_colliding_link_color_property_->getColor());