state_validation_service_capability.cpp

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/* Author: Ioan Sucan */
 
#include "state_validation_service_capability.h"
#include <moveit/moveit_cpp/moveit_cpp.h>
#include <moveit/robot_state/conversions.h>
#include <moveit/utils/message_checks.h>
#include <moveit/collision_detection/collision_tools.h>
#include <moveit/move_group/capability_names.h>
 
namespace move_group
{
MoveGroupStateValidationService::MoveGroupStateValidationService() : MoveGroupCapability("StateValidationService")
{
}
 
void MoveGroupStateValidationService::initialize()
{
  validity_service_ = context_->moveit_cpp_->getNode()->create_service<moveit_msgs::srv::GetStateValidity>(
      STATE_VALIDITY_SERVICE_NAME, [this](const std::shared_ptr<rmw_request_id_t>& request_header,
                                          const std::shared_ptr<moveit_msgs::srv::GetStateValidity::Request>& req,
                                          const std::shared_ptr<moveit_msgs::srv::GetStateValidity::Response>& res) {
        return computeService(request_header, req, res);
      });
}
 
bool MoveGroupStateValidationService::isStateValid(
    const planning_scene_monitor::LockedPlanningSceneRO& ls, const moveit::core::RobotState& rs,
    const std::string& group_name, const moveit_msgs::msg::Constraints& constraints,
    std::vector<moveit_msgs::msg::ContactInformation>& contacts,
    std::vector<moveit_msgs::msg::CostSource>& cost_sources,
    std::vector<moveit_msgs::msg::ConstraintEvalResult>& constraint_result)
{
  bool valid = true;
 
  // configure collision request
  collision_detection::CollisionRequest creq;
  creq.group_name = group_name;
  creq.cost = true;
  creq.contacts = true;
  creq.max_contacts = ls->getWorld()->size() + ls->getRobotModel()->getLinkModelsWithCollisionGeometry().size();
  creq.max_cost_sources = creq.max_contacts;
  creq.max_contacts *= creq.max_contacts;
  collision_detection::CollisionResult cres;
 
  // check collision
  ls->checkCollision(creq, cres, rs);
 
  // copy contacts if any
  if (cres.collision)
  {
    rclcpp::Time time_now = context_->moveit_cpp_->getNode()->get_clock()->now();
    contacts.reserve(cres.contact_count);
    valid = false;
    for (collision_detection::CollisionResult::ContactMap::const_iterator it = cres.contacts.begin();
         it != cres.contacts.end(); ++it)
      for (const collision_detection::Contact& contact : it->second)
      {
        contacts.resize(contacts.size() + 1);
        collision_detection::contactToMsg(contact, contacts.back());
        contacts.back().header.frame_id = ls->getPlanningFrame();
        contacts.back().header.stamp = time_now;
      }
  }
 
  // copy cost sources
  cost_sources.reserve(cres.cost_sources.size());
  for (const collision_detection::CostSource& cost_source : cres.cost_sources)
  {
    cost_sources.resize(cost_sources.size() + 1);
    collision_detection::costSourceToMsg(cost_source, cost_sources.back());
  }
 
  // evaluate constraints
  if (!moveit::core::isEmpty(constraints))
  {
    kinematic_constraints::KinematicConstraintSet kset(ls->getRobotModel());
    kset.add(constraints, ls->getTransforms());
    std::vector<kinematic_constraints::ConstraintEvaluationResult> kres;
    kinematic_constraints::ConstraintEvaluationResult total_result = kset.decide(rs, kres);
    if (!total_result.satisfied)
    {
      valid = false;
    }
 
    // copy constraint results
    constraint_result.resize(kres.size());
    for (std::size_t k = 0; k < kres.size(); ++k)
    {
      constraint_result[k].result = kres[k].satisfied;
      constraint_result[k].distance = kres[k].distance;
    }
  }
 
  return valid;
}
 
bool MoveGroupStateValidationService::computeService(
    const std::shared_ptr<rmw_request_id_t>& /* unused */,
    const std::shared_ptr<moveit_msgs::srv::GetStateValidity::Request>& req,
    const std::shared_ptr<moveit_msgs::srv::GetStateValidity::Response>& res)
{
  planning_scene_monitor::LockedPlanningSceneRO ls(context_->planning_scene_monitor_);
  moveit::core::RobotState rs = ls->getCurrentState();
  moveit::core::robotStateMsgToRobotState(req->robot_state, rs);
  res->valid =
      isStateValid(ls, rs, req->group_name, req->constraints, res->contacts, res->cost_sources, res->constraint_result);
  return true;
}
}  // namespace move_group
 
#include <pluginlib/class_list_macros.hpp>
 
PLUGINLIB_EXPORT_CLASS(move_group::MoveGroupStateValidationService, move_group::MoveGroupCapability)