cb_move_end_effector_relative.cpp

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/*****************************************************************************************************************
 * ReelRobotix Inc. - Software License Agreement      Copyright (c) 2018-2020
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
 
#include <move_group_interface_client/client_behaviors/cb_move_end_effector_relative.h>
#include <tf/tf.h>
#include <tf/transform_datatypes.h>
#include <future>
 
namespace cl_move_group_interface
{
    CbMoveEndEffectorRelative::CbMoveEndEffectorRelative()
    {
        transform_.rotation.w = 1;
    }
 
    CbMoveEndEffectorRelative::CbMoveEndEffectorRelative(geometry_msgs::Transform transform)
    {
    }
 
    void CbMoveEndEffectorRelative::onEntry()
    {
        ROS_INFO_STREAM("[CbMoveEndEffectorRelative] Transform end effector pose relative: " << transform_);
 
        this->requiresClient(movegroupClient_);
 
        if (this->group_)
        {
            moveit::planning_interface::MoveGroupInterface move_group(*(this->group_));
            this->moveRelative(move_group, this->transform_);
        }
        else
        {
            this->moveRelative(movegroupClient_->moveGroupClientInterface, this->transform_);
        }
    }
 
    void CbMoveEndEffectorRelative::onExit()
    {
    }
 
    void CbMoveEndEffectorRelative::moveRelative(moveit::planning_interface::MoveGroupInterface &moveGroupInterface, geometry_msgs::Transform &transformOffset)
    {
        auto referenceStartPose = moveGroupInterface.getCurrentPose();
        tf::Quaternion currentOrientation;
        tf::quaternionMsgToTF(referenceStartPose.pose.orientation, currentOrientation);
        tf::Quaternion desiredRelativeRotation;
 
        tf::quaternionMsgToTF(transformOffset.rotation, desiredRelativeRotation);
 
        auto targetOrientation = desiredRelativeRotation * currentOrientation;
 
        geometry_msgs::PoseStamped targetObjectPose = referenceStartPose;
 
        tf::quaternionTFToMsg(targetOrientation, targetObjectPose.pose.orientation);
        targetObjectPose.pose.position.x += transformOffset.translation.x;
        targetObjectPose.pose.position.y += transformOffset.translation.y;
        targetObjectPose.pose.position.z += transformOffset.translation.z;
 
        moveGroupInterface.setPlanningTime(1.0);
 
        ROS_INFO_STREAM("[CbMoveEndEffectorRelative] Target End efector Pose: " << targetObjectPose);
 
        moveGroupInterface.setPoseTarget(targetObjectPose);
        moveGroupInterface.setPoseReferenceFrame("map");
 
        moveit::planning_interface::MoveGroupInterface::Plan computedMotionPlan;
        bool success = (moveGroupInterface.plan(computedMotionPlan) == moveit::core::MoveItErrorCode::SUCCESS);
        ROS_INFO_NAMED("CbMoveEndEffectorRelative", "Success Visualizing plan 1 (pose goal) %s", success ? "" : "FAILED");
 
        if (success)
        {
            auto executionResult = moveGroupInterface.execute(computedMotionPlan);
 
            if (executionResult == moveit_msgs::MoveItErrorCodes::SUCCESS)
            {
                ROS_INFO("[CbMoveEndEffectorRelative] motion execution succeeded");
                movegroupClient_->postEventMotionExecutionSucceded();
                this->postSuccessEvent();
            }
            else
            {
                moveGroupInterface.setPoseTarget(referenceStartPose); // undo to avoid abort-repeat state issues with this relative motion
                ROS_INFO("[CbMoveEndEffectorRelative] motion execution failed");
                movegroupClient_->postEventMotionExecutionFailed();
                this->postFailureEvent();
            }
        }
        else
        {
            moveGroupInterface.setPoseTarget(referenceStartPose); //undo since we did not executed the motion
            ROS_INFO("[CbMoveEndEffectorRelative] motion execution failed");
            movegroupClient_->postEventMotionExecutionFailed();
            this->postFailureEvent();
        }
    }
} // namespace cl_move_group_interface