Moveit示例代码:Planning Scene

概述

用于碰撞检测及约束检测。其中碰撞检测包括机械臂所有连杆、指定连杆组、ACM(允许碰撞矩阵:忽略特定物体之间的碰撞)以及全局碰撞检测。约束检测包括运动学约束(关节、位置、旋转)和用户定义约束。

示例代码

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/* Author: Sachin Chitta, Michael Lautman */

#include <ros/ros.h>

// MoveIt
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/planning_scene/planning_scene.h>

#include <moveit/kinematic_constraints/utils.h>

// BEGIN_SUB_TUTORIAL stateFeasibilityTestExample
//
// User defined constraints can also be specified to the PlanningScene
// class. This is done by specifying a callback using the
// setStateFeasibilityPredicate function. Here's a simple example of a
// user-defined callback that checks whether the "panda_joint1" of
// the Panda robot is at a positive or negative angle:
bool stateFeasibilityTestExample(const robot_state::RobotState& kinematic_state, bool verbose)
{
  const double* joint_values = kinematic_state.getJointPositions("panda_joint1");
  return (joint_values[0] > 0.0);
}
// END_SUB_TUTORIAL

int main(int argc, char** argv)
{
  ros::init(argc, argv, "panda_arm_kinematics");
  ros::AsyncSpinner spinner(1);
  spinner.start();
  std::size_t count = 0;
  // BEGIN_TUTORIAL
  //
  // Setup
  // ^^^^^
  //
  // The :planning_scene:`PlanningScene` class can be easily setup and
  // configured using a :moveit_core:`RobotModel` or a URDF and
  // SRDF. This is, however, not the recommended way to instantiate a
  // PlanningScene. The :planning_scene_monitor:`PlanningSceneMonitor`
  // is the recommended method to create and maintain the current
  // planning scene (and is discussed in detail in the next tutorial)
  // using data from the robot's joints and the sensors on the robot. In
  // this tutorial, we will instantiate a PlanningScene class directly,
  // but this method of instantiation is only intended for illustration.

  robot_model_loader::RobotModelLoader robot_model_loader("robot_description");
  robot_model::RobotModelPtr kinematic_model = robot_model_loader.getModel();
  planning_scene::PlanningScene planning_scene(kinematic_model);

  // Collision Checking
  // ^^^^^^^^^^^^^^^^^^
  //
  // Self-collision checking
  // ~~~~~~~~~~~~~~~~~~~~~~~
  //
  // The first thing we will do is check whether the robot in its
  // current state is in *self-collision*, i.e. whether the current
  // configuration of the robot would result in the robot's parts
  // hitting each other. To do this, we will construct a
  // :collision_detection_struct:`CollisionRequest` object and a
  // :collision_detection_struct:`CollisionResult` object and pass them
  // into the collision checking function. Note that the result of
  // whether the robot is in self-collision or not is contained within
  // the result. Self collision checking uses an *unpadded* version of
  // the robot, i.e. it directly uses the collision meshes provided in
  // the URDF with no extra padding added on.

  collision_detection::CollisionRequest collision_request;
  collision_detection::CollisionResult collision_result;
  planning_scene.checkSelfCollision(collision_request, collision_result);
  ROS_INFO_STREAM("Test 1: Current state is " << (collision_result.collision ? "in" : "not in") << " self collision");

  // Change the state
  // ~~~~~~~~~~~~~~~~
  //
  // Now, let's change the current state of the robot. The planning
  // scene maintains the current state internally. We can get a
  // reference to it and change it and then check for collisions for the
  // new robot configuration. Note in particular that we need to clear
  // the collision_result before making a new collision checking
  // request.

  robot_state::RobotState& current_state = planning_scene.getCurrentStateNonConst();
  current_state.setToRandomPositions();
  collision_result.clear();
  planning_scene.checkSelfCollision(collision_request, collision_result);
  ROS_INFO_STREAM("Test 2: Current state is " << (collision_result.collision ? "in" : "not in") << " self collision");

  // Checking for a group
  // ~~~~~~~~~~~~~~~~~~~~
  //
  // Now, we will do collision checking only for the hand of the
  // Panda, i.e. we will check whether there are any collisions between
  // the hand and other parts of the body of the robot. We can ask
  // for this specifically by adding the group name "hand" to the
  // collision request.

  collision_request.group_name = "hand";
  current_state.setToRandomPositions();
  collision_result.clear();
  planning_scene.checkSelfCollision(collision_request, collision_result);
  ROS_INFO_STREAM("Test 3: Current state is " << (collision_result.collision ? "in" : "not in") << " self collision");

  // Getting Contact Information
  // ~~~~~~~~~~~~~~~~~~~~~~~~~~~
  //
  // First, manually set the Panda arm to a position where we know
  // internal (self) collisions do happen. Note that this state is now
  // actually outside the joint limits of the Panda, which we can also
  // check for directly.

  std::vector<double> joint_values = { 0.0, 0.0, 0.0, -2.9, 0.0, 1.4, 0.0 };
  const robot_model::JointModelGroup* joint_model_group = current_state.getJointModelGroup("panda_arm");
  current_state.setJointGroupPositions(joint_model_group, joint_values);
  ROS_INFO_STREAM("Test 4: Current state is "
                  << (current_state.satisfiesBounds(joint_model_group) ? "valid" : "not valid"));

  // Now, we can get contact information for any collisions that might
  // have happened at a given configuration of the Panda arm. We can ask
  // for contact information by filling in the appropriate field in the
  // collision request and specifying the maximum number of contacts to
  // be returned as a large number.

  collision_request.contacts = true;
  collision_request.max_contacts = 1000;

  //

  collision_result.clear();
  planning_scene.checkSelfCollision(collision_request, collision_result);
  ROS_INFO_STREAM("Test 5: Current state is " << (collision_result.collision ? "in" : "not in") << " self collision");
  collision_detection::CollisionResult::ContactMap::const_iterator it;
  for (it = collision_result.contacts.begin(); it != collision_result.contacts.end(); ++it)
  {
    ROS_INFO("Contact between: %s and %s", it->first.first.c_str(), it->first.second.c_str());
  }

  // Modifying the Allowed Collision Matrix
  // ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  //
  // The :collision_detection_class:`AllowedCollisionMatrix` (ACM)
  // provides a mechanism to tell the collision world to ignore
  // collisions between certain object: both parts of the robot and
  // objects in the world. We can tell the collision checker to ignore
  // all collisions between the links reported above, i.e. even though
  // the links are actually in collision, the collision checker will
  // ignore those collisions and return not in collision for this
  // particular state of the robot.
  //
  // Note also in this example how we are making copies of both the
  // allowed collision matrix and the current state and passing them in
  // to the collision checking function.

  collision_detection::AllowedCollisionMatrix acm = planning_scene.getAllowedCollisionMatrix();
  robot_state::RobotState copied_state = planning_scene.getCurrentState();

  collision_detection::CollisionResult::ContactMap::const_iterator it2;
  for (it2 = collision_result.contacts.begin(); it2 != collision_result.contacts.end(); ++it2)
  {
    acm.setEntry(it2->first.first, it2->first.second, true);
  }
  collision_result.clear();
  planning_scene.checkSelfCollision(collision_request, collision_result, copied_state, acm);
  ROS_INFO_STREAM("Test 6: Current state is " << (collision_result.collision ? "in" : "not in") << " self collision");

  // Full Collision Checking
  // ~~~~~~~~~~~~~~~~~~~~~~~
  //
  // While we have been checking for self-collisions, we can use the
  // checkCollision functions instead which will check for both
  // self-collisions and for collisions with the environment (which is
  // currently empty).  This is the set of collision checking
  // functions that you will use most often in a planner. Note that
  // collision checks with the environment will use the padded version
  // of the robot. Padding helps in keeping the robot further away
  // from obstacles in the environment.*/
  collision_result.clear();
  planning_scene.checkCollision(collision_request, collision_result, copied_state, acm);
  ROS_INFO_STREAM("Test 7: Current state is " << (collision_result.collision ? "in" : "not in") << " self collision");

  // Constraint Checking
  // ^^^^^^^^^^^^^^^^^^^
  //
  // The PlanningScene class also includes easy to use function calls
  // for checking constraints. The constraints can be of two types:
  // (a) constraints chosen from the
  // :kinematic_constraints:`KinematicConstraint` set:
  // i.e. :kinematic_constraints:`JointConstraint`,
  // :kinematic_constraints:`PositionConstraint`,
  // :kinematic_constraints:`OrientationConstraint` and
  // :kinematic_constraints:`VisibilityConstraint` and (b) user
  // defined constraints specified through a callback. We will first
  // look at an example with a simple KinematicConstraint.
  //
  // Checking Kinematic Constraints
  // ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  //
  // We will first define a simple position and orientation constraint
  // on the end-effector of the panda_arm group of the Panda robot. Note the
  // use of convenience functions for filling up the constraints
  // (these functions are found in the :moveit_core_files:`utils.h<utils_8h>` file from the
  // kinematic_constraints directory in moveit_core).

  std::string end_effector_name = joint_model_group->getLinkModelNames().back();

  geometry_msgs::PoseStamped desired_pose;
  desired_pose.pose.orientation.w = 1.0;
  desired_pose.pose.position.x = 0.3;
  desired_pose.pose.position.y = -0.185;
  desired_pose.pose.position.z = 0.5;
  desired_pose.header.frame_id = "panda_link0";
  moveit_msgs::Constraints goal_constraint =
      kinematic_constraints::constructGoalConstraints(end_effector_name, desired_pose);

  // Now, we can check a state against this constraint using the
  // isStateConstrained functions in the PlanningScene class.

  copied_state.setToRandomPositions();
  copied_state.update();
  bool constrained = planning_scene.isStateConstrained(copied_state, goal_constraint);
  ROS_INFO_STREAM("Test 8: Random state is " << (constrained ? "constrained" : "not constrained"));

  // There's a more efficient way of checking constraints (when you want
  // to check the same constraint over and over again, e.g. inside a
  // planner). We first construct a KinematicConstraintSet which
  // pre-processes the ROS Constraints messages and sets it up for quick
  // processing.

  kinematic_constraints::KinematicConstraintSet kinematic_constraint_set(kinematic_model);
  kinematic_constraint_set.add(goal_constraint, planning_scene.getTransforms());
  bool constrained_2 = planning_scene.isStateConstrained(copied_state, kinematic_constraint_set);
  ROS_INFO_STREAM("Test 9: Random state is " << (constrained_2 ? "constrained" : "not constrained"));

  // There's a direct way to do this using the KinematicConstraintSet
  // class.

  kinematic_constraints::ConstraintEvaluationResult constraint_eval_result =
      kinematic_constraint_set.decide(copied_state);
  ROS_INFO_STREAM("Test 10: Random state is "
                  << (constraint_eval_result.satisfied ? "constrained" : "not constrained"));

  // User-defined constraints
  // ~~~~~~~~~~~~~~~~~~~~~~~~
  //
  // CALL_SUB_TUTORIAL stateFeasibilityTestExample

  // Now, whenever isStateFeasible is called, this user-defined callback
  // will be called.

  planning_scene.setStateFeasibilityPredicate(stateFeasibilityTestExample);
  bool state_feasible = planning_scene.isStateFeasible(copied_state);
  ROS_INFO_STREAM("Test 11: Random state is " << (state_feasible ? "feasible" : "not feasible"));

  // Whenever isStateValid is called, three checks are conducted: (a)
  // collision checking (b) constraint checking and (c) feasibility
  // checking using the user-defined callback.

  bool state_valid = planning_scene.isStateValid(copied_state, kinematic_constraint_set, "panda_arm");
  ROS_INFO_STREAM("Test 12: Random state is " << (state_valid ? "valid" : "not valid"));

  // Note that all the planners available through MoveIt and OMPL will
  // currently perform collision checking, constraint checking and
  // feasibility checking using user-defined callbacks.
  // END_TUTORIAL

  ros::shutdown();
  return 0;
}

参考链接

https://github.com/ros-planning/moveit_tutorials/blob/melodic-devel/doc/planning_scene/src/planning_scene_tutorial.cpp

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