Moveit示例代码:Visualizing Collisions

概述

下例描述了将碰撞接触点可视化的实现过程。与前面例子的不同之处在于这里使用InteractiveRobot类来定义机械臂,并可以通过IMarker类来实现机械臂的交互操作。接触点的获取与显示主要通过collision_detection类来实现。

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/* Author: Acorn Pooley, Michael Lautman */

// This code goes with the Collision Contact Visualization tutorial

#include <ros/ros.h>
#include "interactivity/interactive_robot.h"
#include "interactivity/pose_string.h"

// MoveIt
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/collision_detection_fcl/collision_world_fcl.h>
#include <moveit/collision_detection_fcl/collision_robot_fcl.h>
#include <moveit/collision_detection/collision_tools.h>

planning_scene::PlanningScene* g_planning_scene = 0;
shapes::ShapePtr g_world_cube_shape;
ros::Publisher* g_marker_array_publisher = 0;
visualization_msgs::MarkerArray g_collision_points;

void help()
{
  ROS_INFO("#####################################################");
  ROS_INFO("RVIZ SETUP");
  ROS_INFO("----------");
  ROS_INFO("  Global options:");
  ROS_INFO("    FixedFrame = /panda_link0");
  ROS_INFO("  Add a RobotState display:");
  ROS_INFO("    RobotDescription = robot_description");
  ROS_INFO("    RobotStateTopic  = interactive_robot_state");
  ROS_INFO("  Add a Marker display:");
  ROS_INFO("    MarkerTopic = interactive_robot_markers");
  ROS_INFO("  Add an InteractiveMarker display:");
  ROS_INFO("    UpdateTopic = interactive_robot_imarkers/update");
  ROS_INFO("  Add a MarkerArray display:");
  ROS_INFO("    MarkerTopic = interactive_robot_marray");
  ROS_INFO("#####################################################");
}

void publishMarkers(visualization_msgs::MarkerArray& markers)
{
  // delete old markers
  if (g_collision_points.markers.size())
  {
    for (int i = 0; i < g_collision_points.markers.size(); i++)
      g_collision_points.markers[i].action = visualization_msgs::Marker::DELETE;

    g_marker_array_publisher->publish(g_collision_points);
  }

  // move new markers into g_collision_points
  std::swap(g_collision_points.markers, markers.markers);

  // draw new markers (if there are any)
  if (g_collision_points.markers.size())
    g_marker_array_publisher->publish(g_collision_points);
}

void computeCollisionContactPoints(InteractiveRobot& robot)
{
  // move the world geometry in the collision world
  Eigen::Isometry3d world_cube_pose;
  double world_cube_size;
  robot.getWorldGeometry(world_cube_pose, world_cube_size);
  g_planning_scene->getWorldNonConst()->moveShapeInObject("world_cube", g_world_cube_shape, world_cube_pose);

  // BEGIN_SUB_TUTORIAL computeCollisionContactPoints
  //
  // Collision Requests
  // ^^^^^^^^^^^^^^^^^^
  // We will create a collision request for the Panda robot
  collision_detection::CollisionRequest c_req;
  collision_detection::CollisionResult c_res;
  c_req.group_name = robot.getGroupName();
  c_req.contacts = true;
  c_req.max_contacts = 100;
  c_req.max_contacts_per_pair = 5;
  c_req.verbose = false;

  // Checking for Collisions
  // ^^^^^^^^^^^^^^^^^^^^^^^
  // We check for collisions between robot and itself or the world.
  g_planning_scene->checkCollision(c_req, c_res, *robot.robotState());

  // Displaying Collision Contact Points
  // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  // If there are collisions, we get the contact points and display them as markers.
  // **getCollisionMarkersFromContacts()** is a helper function that adds the
  // collision contact points into a MarkerArray message. If you want to use
  // the contact points for something other than displaying them you can
  // iterate through **c_res.contacts** which is a std::map of contact points.
  // Look at the implementation of getCollisionMarkersFromContacts() in
  // `collision_tools.cpp
  // <https://github.com/ros-planning/moveit/blob/melodic-devel/moveit_core/collision_detection/src/collision_tools.cpp>`_
  // for how.
  if (c_res.collision)
  {
    ROS_INFO("COLLIDING contact_point_count=%d", (int)c_res.contact_count);
    if (c_res.contact_count > 0)
    {
      std_msgs::ColorRGBA color;
      color.r = 1.0;
      color.g = 0.0;
      color.b = 1.0;
      color.a = 0.5;
      visualization_msgs::MarkerArray markers;

      /* Get the contact ponts and display them as markers */
      collision_detection::getCollisionMarkersFromContacts(markers, "panda_link0", c_res.contacts, color,
                                                           ros::Duration(),  // remain until deleted
                                                           0.01);            // radius
      publishMarkers(markers);
    }
  }
  // END_SUB_TUTORIAL
  else
  {
    ROS_INFO("Not colliding");

    // delete the old collision point markers
    visualization_msgs::MarkerArray empty_marker_array;
    publishMarkers(empty_marker_array);
  }
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "visualizing_collisions_tutorial");
  ros::NodeHandle nh;

  // BEGIN_TUTORIAL
  //
  // Initializing the Planning Scene and Markers
  // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  // For this tutorial we use an :codedir:`InteractiveRobot <interactivity/src/interactive_robot.cpp>`
  // object as a wrapper that combines a robot_model with the cube and an interactive marker. We also
  // create a :planning_scene:`PlanningScene` for collision checking. If you haven't already gone through the
  // `planning scene tutorial <../planning_scene/planning_scene_tutorial.html>`_, you go through that first.
  InteractiveRobot robot;
  /* Create a PlanningScene */
  g_planning_scene = new planning_scene::PlanningScene(robot.robotModel());

  // Adding geometry to the PlanningScene
  Eigen::Isometry3d world_cube_pose;
  double world_cube_size;
  robot.getWorldGeometry(world_cube_pose, world_cube_size);
  g_world_cube_shape.reset(new shapes::Box(world_cube_size, world_cube_size, world_cube_size));
  g_planning_scene->getWorldNonConst()->addToObject("world_cube", g_world_cube_shape, world_cube_pose);

  // CALL_SUB_TUTORIAL computeCollisionContactPoints
  // END_TUTORIAL

  // Create a marker array publisher for publishing contact points
  g_marker_array_publisher =
      new ros::Publisher(nh.advertise<visualization_msgs::MarkerArray>("interactive_robot_marray", 100));

  robot.setUserCallback(computeCollisionContactPoints);

  help();

  ros::spin();

  delete g_planning_scene;
  delete g_marker_array_publisher;

  ros::shutdown();
  return 0;
}

参考链接

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

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