fix_workspace_bounds.cpp

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/* Author: Ioan Sucan */
 
#include <moveit/planning_request_adapter/planning_request_adapter.h>
#include <class_loader/class_loader.hpp>
#include <rclcpp/logger.hpp>
#include <rclcpp/logging.hpp>
#include <rclcpp/node.hpp>
#include <rclcpp/parameter_value.hpp>
 
namespace default_planner_request_adapters
{
static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit_ros.fix_workspace_bounds");
 
class FixWorkspaceBounds : public planning_request_adapter::PlanningRequestAdapter
{
public:
  static const std::string WBOUNDS_PARAM_NAME;
 
  void initialize(const rclcpp::Node::SharedPtr& node, const std::string& parameter_namespace) override
  {
    node_ = node;
    workspace_extent_ = getParam(node_, LOGGER, parameter_namespace, WBOUNDS_PARAM_NAME, 10.0);
    workspace_extent_ /= 2.0;
  }
 
  std::string getDescription() const override
  {
    return "Fix Workspace Bounds";
  }
 
  bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
                    const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
                    std::vector<std::size_t>& /*added_path_index*/) const override
  {
    RCLCPP_DEBUG(LOGGER, "Running '%s'", getDescription().c_str());
    const moveit_msgs::msg::WorkspaceParameters& wparams = req.workspace_parameters;
    if (wparams.min_corner.x == wparams.max_corner.x && wparams.min_corner.x == 0.0 &&
        wparams.min_corner.y == wparams.max_corner.y && wparams.min_corner.y == 0.0 &&
        wparams.min_corner.z == wparams.max_corner.z && wparams.min_corner.z == 0.0)
    {
      RCLCPP_DEBUG(LOGGER, "It looks like the planning volume was not specified. Using default values.");
      planning_interface::MotionPlanRequest req2 = req;
      moveit_msgs::msg::WorkspaceParameters& default_wp = req2.workspace_parameters;
      default_wp.min_corner.x = default_wp.min_corner.y = default_wp.min_corner.z = -workspace_extent_;
      default_wp.max_corner.x = default_wp.max_corner.y = default_wp.max_corner.z = workspace_extent_;
      return planner(planning_scene, req2, res);
    }
    else
      return planner(planning_scene, req, res);
  }
 
private:
  rclcpp::Node::SharedPtr node_;
  double workspace_extent_;
};
 
const std::string FixWorkspaceBounds::WBOUNDS_PARAM_NAME = "default_workspace_bounds";
}  // namespace default_planner_request_adapters
 
CLASS_LOADER_REGISTER_CLASS(default_planner_request_adapters::FixWorkspaceBounds,
                            planning_request_adapter::PlanningRequestAdapter)