servo_node.cpp

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/*      Title     : servo_node.cpp
 *      Project   : moveit_servo
 *      Created   : 12/31/2018
 *      Author    : Andy Zelenak
 */
 
#include <moveit_servo/servo_node.h>
#include <moveit_servo/servo_parameters.h>
 
static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit_servo.servo_node");
 
namespace moveit_servo
{
ServoNode::ServoNode(const rclcpp::NodeOptions& options)
  : node_{ std::make_shared<rclcpp::Node>("servo_node", options) }
{
  if (!options.use_intra_process_comms())
  {
    RCLCPP_WARN_STREAM(LOGGER, "Intra-process communication is disabled, consider enabling it by adding: "
                               "\nextra_arguments=[{'use_intra_process_comms' : True}]\nto the Servo composable node "
                               "in the launch file");
  }
 
  // Set up services for interacting with Servo
  start_servo_service_ = node_->create_service<std_srvs::srv::Trigger>(
      "~/start_servo",
      [this](const std::shared_ptr<std_srvs::srv::Trigger::Request>& request,
             const std::shared_ptr<std_srvs::srv::Trigger::Response>& response) { return startCB(request, response); });
  stop_servo_service_ = node_->create_service<std_srvs::srv::Trigger>(
      "~/stop_servo",
      [this](const std::shared_ptr<std_srvs::srv::Trigger::Request>& request,
             const std::shared_ptr<std_srvs::srv::Trigger::Response>& response) { return stopCB(request, response); });
  pause_servo_service_ = node_->create_service<std_srvs::srv::Trigger>(
      "~/pause_servo",
      [this](const std::shared_ptr<std_srvs::srv::Trigger::Request>& request,
             const std::shared_ptr<std_srvs::srv::Trigger::Response>& response) { return pauseCB(request, response); });
  unpause_servo_service_ = node_->create_service<std_srvs::srv::Trigger>(
      "~/unpause_servo", [this](const std::shared_ptr<std_srvs::srv::Trigger::Request>& request,
                                const std::shared_ptr<std_srvs::srv::Trigger::Response>& response) {
        return unpauseCB(request, response);
      });
 
  // Can set robot_description name from parameters
  std::string robot_description_name = "robot_description";
  node_->get_parameter_or("robot_description_name", robot_description_name, robot_description_name);
 
  // Get the servo parameters
  auto servo_parameters = moveit_servo::ServoParameters::makeServoParameters(node_);
  if (servo_parameters == nullptr)
  {
    RCLCPP_ERROR(LOGGER, "Failed to load the servo parameters");
    throw std::runtime_error("Failed to load the servo parameters");
  }
 
  // Set up planning_scene_monitor
  planning_scene_monitor_ = std::make_shared<planning_scene_monitor::PlanningSceneMonitor>(
      node_, robot_description_name, "planning_scene_monitor");
  planning_scene_monitor_->startStateMonitor(servo_parameters->joint_topic);
  planning_scene_monitor_->startSceneMonitor(servo_parameters->monitored_planning_scene_topic);
  planning_scene_monitor_->startWorldGeometryMonitor();
  planning_scene_monitor_->setPlanningScenePublishingFrequency(25);
  planning_scene_monitor_->getStateMonitor()->enableCopyDynamics(true);
  planning_scene_monitor_->startPublishingPlanningScene(planning_scene_monitor::PlanningSceneMonitor::UPDATE_SCENE,
                                                        std::string(node_->get_fully_qualified_name()) +
                                                            "/publish_planning_scene");
  // If the planning scene monitor in servo is the primary one we provide /get_planning_scene service so RViz displays
  // or secondary planning scene monitors can fetch the scene, otherwise we request the planning scene from the
  // primary planning scene monitor (e.g. move_group)
  if (servo_parameters->is_primary_planning_scene_monitor)
    planning_scene_monitor_->providePlanningSceneService();
  else
    planning_scene_monitor_->requestPlanningSceneState();
 
  // Create Servo
  servo_ = std::make_unique<moveit_servo::Servo>(node_, servo_parameters, planning_scene_monitor_);
}
 
void ServoNode::startCB(const std::shared_ptr<std_srvs::srv::Trigger::Request>& /* unused */,
                        const std::shared_ptr<std_srvs::srv::Trigger::Response>& response)
{
  servo_->start();
  response->success = true;
}
 
void ServoNode::stopCB(const std::shared_ptr<std_srvs::srv::Trigger::Request>& /* unused */,
                       const std::shared_ptr<std_srvs::srv::Trigger::Response>& response)
{
  servo_->setPaused(true);
  response->success = true;
}
 
void ServoNode::pauseCB(const std::shared_ptr<std_srvs::srv::Trigger::Request>& /* unused */,
                        const std::shared_ptr<std_srvs::srv::Trigger::Response>& response)
{
  servo_->setPaused(true);
  response->success = true;
}
 
void ServoNode::unpauseCB(const std::shared_ptr<std_srvs::srv::Trigger::Request>& /* unused */,
                          const std::shared_ptr<std_srvs::srv::Trigger::Response>& response)
{
  servo_->setPaused(false);
  response->success = true;
}
 
}  // namespace moveit_servo
 
// Register the component with class_loader
#include <rclcpp_components/register_node_macro.hpp>
RCLCPP_COMPONENTS_REGISTER_NODE(moveit_servo::ServoNode)