moveit2
The MoveIt Motion Planning Framework for ROS 2.
collision_plugin_loader.cpp
Go to the documentation of this file.
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2014 Fetch Robotics Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of Fetch Robotics nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *********************************************************************/
34 
36 
37 static const std::string LOGNAME = "collision_detection";
38 namespace collision_detection
39 {
40 static const rclcpp::Logger LOGGER = rclcpp::get_logger("collision_plugin_loader");
41 
42 void CollisionPluginLoader::setupScene(const rclcpp::Node::SharedPtr& node,
43  const planning_scene::PlanningScenePtr& scene)
44 {
45  if (!scene)
46  {
47  RCLCPP_WARN(LOGGER, "Cannot setup scene, PlanningScenePtr is null.");
48  return;
49  }
50 
51  std::string param_name;
52  std::string collision_detector_name;
53 
54  if (node->has_parameter("collision_detector"))
55  {
56  node->get_parameter("collision_detector", collision_detector_name);
57  }
58  else if (node->has_parameter(("/move_group/collision_detector")))
59  {
60  // Check for existence in move_group namespace
61  // mainly for rviz plugins to get same collision detector.
62  node->get_parameter("/move_group/collision_detector", collision_detector_name);
63  }
64  else
65  {
66  return;
67  }
68 
69  if (collision_detector_name.empty())
70  {
71  // This is not a valid name for a collision detector plugin
72  return;
73  }
74 
75  activate(collision_detector_name, scene);
76  RCLCPP_INFO(LOGGER, "Using collision detector: %s", scene->getCollisionDetectorName().c_str());
77 }
78 
79 } // namespace collision_detection
bool activate(const std::string &name, const planning_scene::PlanningScenePtr &scene)
Activate a specific collision plugin for the given planning scene instance.
void setupScene(const rclcpp::Node::SharedPtr &node, const planning_scene::PlanningScenePtr &scene)
Fetch plugin name from parameter server and activate the plugin for the given scene.
scene
Definition: pick.py:52
const rclcpp::Logger LOGGER
Definition: async_test.h:31