move_group_context.cpp

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/* Author: Ioan Sucan */
 
#include <moveit/move_group/move_group_context.h>
 
#include <moveit/moveit_cpp/moveit_cpp.h>
#include <moveit/planning_pipeline/planning_pipeline.h>
#include <moveit/plan_execution/plan_execution.h>
 
static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit_move_group_capabilities_base.move_group_context");
 
move_group::MoveGroupContext::MoveGroupContext(const moveit_cpp::MoveItCppPtr& moveit_cpp,
                                               const std::string& default_planning_pipeline,
                                               bool allow_trajectory_execution, bool debug)
  : moveit_cpp_(moveit_cpp)
  , planning_scene_monitor_(moveit_cpp->getPlanningSceneMonitor())
  , allow_trajectory_execution_(allow_trajectory_execution)
  , debug_(debug)
{
  // Check if default planning pipeline has been initialized successfully
  const auto& pipelines = moveit_cpp->getPlanningPipelines();
  const auto default_pipeline_it = pipelines.find(default_planning_pipeline);
  if (default_pipeline_it != pipelines.end())
  {
    planning_pipeline_ = default_pipeline_it->second;
 
    // configure the planning pipeline
    planning_pipeline_->displayComputedMotionPlans(true);
    planning_pipeline_->checkSolutionPaths(true);
 
    if (debug_)
      planning_pipeline_->publishReceivedRequests(true);
  }
  else
  {
    RCLCPP_ERROR(
        LOGGER,
        "Failed to find default PlanningPipeline '%s' - please check MoveGroup's planning pipeline configuration.",
        default_planning_pipeline.c_str());
  }
 
  if (allow_trajectory_execution_)
  {
    trajectory_execution_manager_ = moveit_cpp_->getTrajectoryExecutionManager();
    plan_execution_ = std::make_shared<plan_execution::PlanExecution>(moveit_cpp_->getNode(), planning_scene_monitor_,
                                                                      trajectory_execution_manager_);
  }
}
 
move_group::MoveGroupContext::~MoveGroupContext()
{
  plan_execution_.reset();
  trajectory_execution_manager_.reset();
  planning_pipeline_.reset();
  planning_scene_monitor_.reset();
}
 
bool move_group::MoveGroupContext::status() const
{
  const planning_interface::PlannerManagerPtr& planner_interface = planning_pipeline_->getPlannerManager();
  if (planner_interface)
  {
    RCLCPP_INFO_STREAM(LOGGER, "MoveGroup context using planning plugin " << planning_pipeline_->getPlannerPluginName());
    RCLCPP_INFO_STREAM(LOGGER, "MoveGroup context initialization complete");
    return true;
  }
  else
  {
    RCLCPP_WARN_STREAM(LOGGER, "MoveGroup running was unable to load " << planning_pipeline_->getPlannerPluginName());
    return false;
  }
}