cb_move_joints.cpp

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// Copyright 2021 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
/*****************************************************************************************************************
 *
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
 
#include <future>
#include <move_group_interface_client/client_behaviors/cb_move_joints.hpp>
 
namespace cl_move_group_interface
{
CbMoveJoints::CbMoveJoints(const std::map<std::string, double> & jointValueTarget)
: jointValueTarget_(jointValueTarget)
{
}
 
CbMoveJoints::CbMoveJoints() {}
 
void CbMoveJoints::onEntry()
{
  this->requiresClient(movegroupClient_);
 
  if (this->group_)
  {
    moveit::planning_interface::MoveGroupInterface move_group(
      getNode(), moveit::planning_interface::MoveGroupInterface::Options(*(this->group_)));
    this->moveJoints(move_group);
  }
  else
  {
    this->moveJoints(*movegroupClient_->moveGroupClientInterface);
  }
}
 
std::string currentJointStatesToString(
  moveit::planning_interface::MoveGroupInterface & moveGroupInterface,
  std::map<std::string, double> & targetJoints)
{
  auto state = moveGroupInterface.getCurrentState();
 
  if (state == nullptr) return std::string();
 
  auto vnames = state->getVariableNames();
 
  std::stringstream ss;
 
  for (auto & tgj : targetJoints)
  {
    auto it = std::find(vnames.begin(), vnames.end(), tgj.first);
    auto index = std::distance(vnames.begin(), it);
 
    ss << tgj.first << ":" << state->getVariablePosition(index) << std::endl;
  }
 
  return ss.str();
}
 
void CbMoveJoints::moveJoints(moveit::planning_interface::MoveGroupInterface & moveGroupInterface)
{
  if (scalingFactor_) moveGroupInterface.setMaxVelocityScalingFactor(*scalingFactor_);
 
  bool success;
  moveit::planning_interface::MoveGroupInterface::Plan computedMotionPlan;
 
  if (jointValueTarget_.size() == 0)
  {
    RCLCPP_WARN(
      getLogger(), "[CbMoveJoints] No joint was value specified. Skipping planning call.");
    success = false;
  }
  else
  {
    moveGroupInterface.setJointValueTarget(jointValueTarget_);
    //moveGroupInterface.setGoalJointTolerance(0.01);
    success =
      (moveGroupInterface.plan(computedMotionPlan) ==
       moveit::planning_interface::MoveItErrorCode::SUCCESS);
    RCLCPP_INFO(getLogger(), "Success Visualizing plan 1 (pose goal) %s", success ? "" : "FAILED");
  }
 
  if (success)
  {
    auto executionResult = moveGroupInterface.execute(computedMotionPlan);
 
    auto statestr = currentJointStatesToString(moveGroupInterface, jointValueTarget_);
 
    if (executionResult == moveit_msgs::msg::MoveItErrorCodes::SUCCESS)
    {
      RCLCPP_INFO_STREAM(
        getLogger(), "[" << this->getName()
                         << "] motion execution succeeded. Throwing success event. " << std::endl
                         << statestr);
      movegroupClient_->postEventMotionExecutionSucceded();
      this->postSuccessEvent();
    }
    else
    {
      RCLCPP_WARN_STREAM(
        getLogger(), "[" << this->getName() << "] motion execution failed. Throwing fail event."
                         << std::endl
                         << statestr);
      movegroupClient_->postEventMotionExecutionFailed();
      this->postFailureEvent();
    }
  }
  else
  {
    auto statestr = currentJointStatesToString(moveGroupInterface, jointValueTarget_);
    RCLCPP_WARN_STREAM(
      getLogger(), "[" << this->getName() << "] motion execution failed. Throwing fail event."
                       << std::endl
                       << statestr);
    movegroupClient_->postEventMotionExecutionFailed();
    this->postFailureEvent();
  }
}
 
void CbMoveJoints::onExit() {}
}  // namespace cl_move_group_interface