test_planning_scene.cpp

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/* Author: Ioan Sucan */
 
#include <gtest/gtest.h>
#include <moveit/collision_detection_fcl/collision_detector_allocator_fcl.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/utils/message_checks.h>
#include <moveit/utils/robot_model_test_utils.h>
#include <urdf_parser/urdf_parser.h>
#include <fstream>
#include <sstream>
#include <string>
#include <tf2_eigen/tf2_eigen.hpp>
 
#include <moveit/collision_detection/collision_common.h>
#include <moveit/collision_detection/collision_plugin_cache.h>
 
// Test not setting the object's pose should use the shape pose as the object pose
TEST(PlanningScene, TestOneShapeObjectPose)
{
  urdf::ModelInterfaceSharedPtr urdf_model = moveit::core::loadModelInterface("pr2");
  srdf::ModelSharedPtr srdf_model = std::make_shared<srdf::Model>();
  planning_scene::PlanningScene ps(urdf_model, srdf_model);
 
  const std::string object_name = "object";
  const Eigen::Isometry3d expected_transfrom = Eigen::Isometry3d::Identity() * Eigen::Translation3d(0.5, -0.25, 0.0);
 
  moveit_msgs::msg::CollisionObject co;
  co.header.frame_id = "base_footprint";
  co.id = object_name;
  co.operation = moveit_msgs::msg::CollisionObject::ADD;
  co.primitives.push_back([] {
    shape_msgs::msg::SolidPrimitive primitive;
    primitive.type = shape_msgs::msg::SolidPrimitive::CYLINDER;
    primitive.dimensions = { 0.25, 0.02 };
    return primitive;
  }());
  co.primitive_poses.push_back(tf2::toMsg(expected_transfrom));
 
  ps.processCollisionObjectMsg(co);
 
  EXPECT_TRUE(expected_transfrom.isApprox(ps.getFrameTransform(object_name)));
}
 
TEST(PlanningScene, LoadRestore)
{
  urdf::ModelInterfaceSharedPtr urdf_model = moveit::core::loadModelInterface("pr2");
  srdf::ModelSharedPtr srdf_model = std::make_shared<srdf::Model>();
  planning_scene::PlanningScene ps(urdf_model, srdf_model);
  moveit_msgs::msg::PlanningScene ps_msg;
  ps.getPlanningSceneMsg(ps_msg);
  EXPECT_EQ(ps.getName(), ps_msg.name);
  EXPECT_EQ(ps.getRobotModel()->getName(), ps_msg.robot_model_name);
  ps.setPlanningSceneMsg(ps_msg);
  EXPECT_EQ(ps.getName(), ps_msg.name);
  EXPECT_EQ(ps.getRobotModel()->getName(), ps_msg.robot_model_name);
}
 
TEST(PlanningScene, LoadRestoreDiff)
{
  urdf::ModelInterfaceSharedPtr urdf_model = moveit::core::loadModelInterface("pr2");
  srdf::ModelSharedPtr srdf_model = std::make_shared<srdf::Model>();
  auto ps = std::make_shared<planning_scene::PlanningScene>(urdf_model, srdf_model);
 
  collision_detection::World& world = *ps->getWorldNonConst();
 
  /* add one object to ps's world */
  Eigen::Isometry3d id = Eigen::Isometry3d::Identity();
  world.addToObject("sphere", std::make_shared<const shapes::Sphere>(0.4), id);
 
  /* ps can be written to and set from message */
  moveit_msgs::msg::PlanningScene ps_msg;
  ps_msg.robot_state.is_diff = true;
  EXPECT_TRUE(moveit::core::isEmpty(ps_msg));
  ps->getPlanningSceneMsg(ps_msg);
  ps->setPlanningSceneMsg(ps_msg);
  EXPECT_EQ(ps_msg.world.collision_objects.size(), 1u);
  EXPECT_EQ(ps_msg.world.collision_objects[0].id, "sphere");
  EXPECT_TRUE(world.hasObject("sphere"));
 
  /* test diff scene on top of ps */
  planning_scene::PlanningScenePtr next = ps->diff();
  /* world is inherited from ps */
  EXPECT_TRUE(next->getWorld()->hasObject("sphere"));
 
  /* object in overlay is only added in overlay */
  next->getWorldNonConst()->addToObject("sphere_in_next_only", std::make_shared<const shapes::Sphere>(0.5), id);
  EXPECT_EQ(next->getWorld()->size(), 2u);
  EXPECT_EQ(ps->getWorld()->size(), 1u);
 
  /* the worlds used for collision detection contain one and two objects, respectively */
  EXPECT_EQ(ps->getCollisionEnv()->getWorld()->size(), 1u);
  EXPECT_EQ(ps->getCollisionEnvUnpadded()->getWorld()->size(), 1u);
 
  EXPECT_EQ(next->getCollisionEnv()->getWorld()->size(), 2u);
  EXPECT_EQ(next->getCollisionEnvUnpadded()->getWorld()->size(), 2u);
 
  /* maintained diff contains only overlay object */
  next->getPlanningSceneDiffMsg(ps_msg);
  EXPECT_EQ(ps_msg.world.collision_objects.size(), 1u);
 
  /* copy ps to next and apply diff */
  next->decoupleParent();
  moveit_msgs::msg::PlanningScene ps_msg2;
 
  /* diff is empty now */
  next->getPlanningSceneDiffMsg(ps_msg2);
  EXPECT_EQ(ps_msg2.world.collision_objects.size(), 0u);
 
  /* next's world contains both objects */
  next->getPlanningSceneMsg(ps_msg);
  EXPECT_EQ(ps_msg.world.collision_objects.size(), 2u);
  ps->setPlanningSceneMsg(ps_msg);
  EXPECT_EQ(ps->getWorld()->size(), 2u);
  EXPECT_EQ(ps->getCollisionEnv()->getWorld()->size(), 2u);
  EXPECT_EQ(ps->getCollisionEnvUnpadded()->getWorld()->size(), 2u);
}
 
TEST(PlanningScene, MakeAttachedDiff)
{
  urdf::ModelInterfaceSharedPtr urdf_model = moveit::core::loadModelInterface("pr2");
  srdf::ModelSharedPtr srdf_model = std::make_shared<srdf::Model>();
  auto ps = std::make_shared<planning_scene::PlanningScene>(urdf_model, srdf_model);
 
  /* add a single object to ps's world */
  collision_detection::World& world = *ps->getWorldNonConst();
  Eigen::Isometry3d id = Eigen::Isometry3d::Identity();
  world.addToObject("sphere", std::make_shared<const shapes::Sphere>(0.4), id);
 
  /* attach object in diff */
  planning_scene::PlanningScenePtr attached_object_diff_scene = ps->diff();
 
  moveit_msgs::msg::AttachedCollisionObject att_obj;
  att_obj.link_name = "r_wrist_roll_link";
  att_obj.object.operation = moveit_msgs::msg::CollisionObject::ADD;
  att_obj.object.id = "sphere";
  attached_object_diff_scene->processAttachedCollisionObjectMsg(att_obj);
 
  /* object is not in world anymore */
  EXPECT_EQ(attached_object_diff_scene->getWorld()->size(), 0u);
  /* it became part of the robot state though */
  EXPECT_TRUE(attached_object_diff_scene->getCurrentState().hasAttachedBody("sphere"));
 
  collision_detection::CollisionRequest req;
  collision_detection::CollisionResult res;
  attached_object_diff_scene->checkCollision(req, res);
  ps->checkCollision(req, res);
}
 
TEST(PlanningScene, isStateValid)
{
  moveit::core::RobotModelPtr robot_model = moveit::core::loadTestingRobotModel("pr2");
  auto ps = std::make_shared<planning_scene::PlanningScene>(robot_model->getURDF(), robot_model->getSRDF());
  moveit::core::RobotState current_state = ps->getCurrentState();
  if (ps->isStateColliding(current_state, "left_arm"))
  {
    EXPECT_FALSE(ps->isStateValid(current_state, "left_arm"));
  }
}
 
TEST(PlanningScene, loadGoodSceneGeometryNewFormat)
{
  moveit::core::RobotModelPtr robot_model = moveit::core::loadTestingRobotModel("pr2");
  auto ps = std::make_shared<planning_scene::PlanningScene>(robot_model->getURDF(), robot_model->getSRDF());
 
  std::istringstream good_scene_geometry;
  good_scene_geometry.str("foobar_scene\n"
                          "* foo\n"
                          "0 0 0\n"
                          "0 0 0 1\n"
                          "1\n"
                          "box\n"
                          "2.58 1.36 0.31\n"
                          "1.49257 1.00222 0.170051\n"
                          "0 0 4.16377e-05 1\n"
                          "0 0 1 0.3\n"
                          "0\n"
                          "* bar\n"
                          "0 0 0\n"
                          "0 0 0 1\n"
                          "1\n"
                          "cylinder\n"
                          "0.02 0.0001\n"
                          "0.453709 0.499136 0.355051\n"
                          "0 0 4.16377e-05 1\n"
                          "1 0 0 1\n"
                          "0\n"
                          ".\n");
  EXPECT_TRUE(ps->loadGeometryFromStream(good_scene_geometry));
  EXPECT_EQ(ps->getName(), "foobar_scene");
  EXPECT_TRUE(ps->getWorld()->hasObject("foo"));
  EXPECT_TRUE(ps->getWorld()->hasObject("bar"));
  EXPECT_FALSE(ps->getWorld()->hasObject("baz"));  // Sanity check.
}
 
TEST(PlanningScene, loadGoodSceneGeometryOldFormat)
{
  moveit::core::RobotModelPtr robot_model = moveit::core::loadTestingRobotModel("pr2");
  auto ps = std::make_shared<planning_scene::PlanningScene>(robot_model->getURDF(), robot_model->getSRDF());
 
  std::istringstream good_scene_geometry;
  good_scene_geometry.str("foobar_scene\n"
                          "* foo\n"
                          "2\n"
                          "box\n"
                          ".77 0.39 0.05\n"
                          "0 0 0.025\n"
                          "0 0 0 1\n"
                          "0.82 0.75 0.60 1\n"
                          "box\n"
                          ".77 0.39 0.05\n"
                          "0 0 1.445\n"
                          "0 0 0 1\n"
                          "0.82 0.75 0.60 1\n"
                          ".\n");
  EXPECT_TRUE(ps->loadGeometryFromStream(good_scene_geometry));
  EXPECT_EQ(ps->getName(), "foobar_scene");
  EXPECT_TRUE(ps->getWorld()->hasObject("foo"));
  EXPECT_FALSE(ps->getWorld()->hasObject("baz"));  // Sanity check.
}
 
TEST(PlanningScene, loadBadSceneGeometry)
{
  moveit::core::RobotModelPtr robot_model = moveit::core::loadTestingRobotModel("pr2");
  auto ps = std::make_shared<planning_scene::PlanningScene>(robot_model->getURDF(), robot_model->getSRDF());
  std::istringstream empty_scene_geometry;
 
  // This should fail since there is no planning scene name and no end of geometry marker.
  EXPECT_FALSE(ps->loadGeometryFromStream(empty_scene_geometry));
 
  std::istringstream malformed_scene_geometry;
  malformed_scene_geometry.str("malformed_scene_geometry\n"
                               "* foo\n"
                               "0 0 0\n"
                               "0 0 0 1\n"
                               "1\n"
                               "box\n"
                               "2.58 1.36\n" /* Only two tokens; should be 3 */
                               "1.49257 1.00222 0.170051\n"
                               "0 0 4.16377e-05 1\n"
                               "0 0 1 0.3\n"
                               ".\n");
  EXPECT_FALSE(ps->loadGeometryFromStream(malformed_scene_geometry));
}
 
// Test the setting of a new collision detector type. For now, only FCL is available in MoveIt2.
// TODO(andyz): switch to a different type when one becomes available.
TEST(PlanningScene, switchCollisionDetectorType)
{
  moveit::core::RobotModelPtr robot_model = moveit::core::loadTestingRobotModel("pr2");
  auto ps = std::make_shared<planning_scene::PlanningScene>(robot_model->getURDF(), robot_model->getSRDF());
  moveit::core::RobotState current_state = ps->getCurrentState();
  if (ps->isStateColliding(current_state, "left_arm"))
  {
    EXPECT_FALSE(ps->isStateValid(current_state, "left_arm"));
  }
 
  ps->allocateCollisionDetector(collision_detection::CollisionDetectorAllocatorFCL::create());
  if (ps->isStateColliding(current_state, "left_arm"))
  {
    EXPECT_FALSE(ps->isStateValid(current_state, "left_arm"));
  }
}
 
TEST(PlanningScene, FailRetrievingNonExistentObject)
{
  moveit::core::RobotModelPtr robot_model = moveit::core::loadTestingRobotModel("pr2");
  planning_scene::PlanningScene ps{ robot_model };
  moveit_msgs::msg::CollisionObject obj;
  EXPECT_FALSE(ps.getCollisionObjectMsg(obj, "non_existent_object"));
}
 
class CollisionDetectorTests : public testing::TestWithParam<const char*>
{
};
TEST_P(CollisionDetectorTests, ClearDiff)
{
  const std::string plugin_name = GetParam();
  SCOPED_TRACE(plugin_name);
 
  urdf::ModelInterfaceSharedPtr urdf_model = moveit::core::loadModelInterface("pr2");
  srdf::ModelSharedPtr srdf_model = std::make_shared<srdf::Model>();
  // create parent scene
  planning_scene::PlanningScenePtr parent = std::make_shared<planning_scene::PlanningScene>(urdf_model, srdf_model);
 
  collision_detection::CollisionPluginCache loader;
  if (!loader.activate(plugin_name, parent))
  {
#if defined(GTEST_SKIP_)
    GTEST_SKIP_("Failed to load collision plugin");
#else
    return;
#endif
  }
 
  // create child scene
  planning_scene::PlanningScenePtr child = parent->diff();
 
  // create collision request variables
  collision_detection::CollisionRequest req;
  collision_detection::CollisionResult res;
  moveit::core::RobotState* state = new moveit::core::RobotState(child->getRobotModel());
  state->setToDefaultValues();
  state->update();
 
  // there should be no collision with the environment
  res.clear();
  parent->getCollisionEnv()->checkRobotCollision(req, res, *state, parent->getAllowedCollisionMatrix());
  EXPECT_FALSE(res.collision);
  res.clear();
  child->getCollisionEnv()->checkRobotCollision(req, res, *state, child->getAllowedCollisionMatrix());
  EXPECT_FALSE(res.collision);
 
  // create message to add a collision object at the world origin
  moveit_msgs::msg::PlanningScene ps_msg;
  ps_msg.is_diff = false;
  moveit_msgs::msg::CollisionObject co;
  co.header.frame_id = "base_link";
  co.operation = moveit_msgs::msg::CollisionObject::ADD;
  co.id = "box";
  co.pose.orientation.w = 1.0;
  {
    shape_msgs::msg::SolidPrimitive sp;
    sp.type = shape_msgs::msg::SolidPrimitive::BOX;
    sp.dimensions = { 1., 1., 1. };
    co.primitives.push_back(sp);
    geometry_msgs::msg::Pose sp_pose;
    sp_pose.orientation.w = 1.0;
    co.primitive_poses.push_back(sp_pose);
  }
  ps_msg.world.collision_objects.push_back(co);
 
  // add object to the parent planning scene
  parent->usePlanningSceneMsg(ps_msg);
 
  // the parent scene should be in collision
  res.clear();
  parent->getCollisionEnv()->checkRobotCollision(req, res, *state, parent->getAllowedCollisionMatrix());
  EXPECT_TRUE(res.collision);
 
  // the child scene was not updated yet, so no collision
  res.clear();
  child->getCollisionEnv()->checkRobotCollision(req, res, *state, child->getAllowedCollisionMatrix());
  EXPECT_FALSE(res.collision);
 
  // update the child scene
  child->clearDiffs();
 
  // child and parent scene should be in collision
  res.clear();
  parent->getCollisionEnv()->checkRobotCollision(req, res, *state, parent->getAllowedCollisionMatrix());
  EXPECT_TRUE(res.collision);
  res.clear();
  child->getCollisionEnv()->checkRobotCollision(req, res, *state, child->getAllowedCollisionMatrix());
  EXPECT_TRUE(res.collision);
 
  child.reset();
  parent.reset();
}
 
// Returns a planning scene diff message
moveit_msgs::msg::PlanningScene create_planning_scene_diff(const planning_scene::PlanningScene& ps,
                                                           const std::string& object_name, const int8_t operation,
                                                           const bool attach_object = false,
                                                           const bool create_object = true)
{
  // Helper function to create an object for RobotStateDiffBug
  auto add_object = [](const std::string& object_name, const int8_t operation) {
    moveit_msgs::msg::CollisionObject co;
    co.header.frame_id = "panda_link0";
    co.id = object_name;
    co.operation = operation;
    co.primitives.push_back([] {
      shape_msgs::msg::SolidPrimitive primitive;
      primitive.type = shape_msgs::msg::SolidPrimitive::SPHERE;
      primitive.dimensions.push_back(1.0);
      return primitive;
    }());
    co.primitive_poses.push_back([] {
      geometry_msgs::msg::Pose pose;
      pose.orientation.w = 1.0;
      return pose;
    }());
    co.pose = co.primitive_poses[0];
    return co;
  };
  // Helper function to create an attached object for RobotStateDiffBug
  auto add_attached_object = [](const std::string& object_name, const int8_t operation) {
    moveit_msgs::msg::AttachedCollisionObject aco;
    aco.object.operation = operation;
    aco.object.id = object_name;
    aco.link_name = "panda_link0";
    return aco;
  };
 
  auto new_ps = ps.diff();
  if ((operation == moveit_msgs::msg::CollisionObject::REMOVE && !attach_object) ||
      (operation == moveit_msgs::msg::CollisionObject::ADD && create_object))
    new_ps->processCollisionObjectMsg(add_object(object_name, operation));
  if (attach_object)
    new_ps->processAttachedCollisionObjectMsg(add_attached_object(object_name, operation));
  moveit_msgs::msg::PlanningScene scene_msg;
  new_ps->getPlanningSceneDiffMsg(scene_msg);
  return scene_msg;
}
 
// Returns collision objects names sorted alphabetically
std::set<std::string> get_collision_objects_names(const planning_scene::PlanningScene& ps)
{
  std::vector<moveit_msgs::msg::CollisionObject> collision_objects;
  ps.getCollisionObjectMsgs(collision_objects);
  std::set<std::string> collision_objects_names;
  for (const auto& collision_object : collision_objects)
    collision_objects_names.emplace(collision_object.id);
  return collision_objects_names;
}
 
// Returns attached collision objects names sorted alphabetically
std::set<std::string> get_attached_collision_objects_names(const planning_scene::PlanningScene& ps)
{
  std::vector<moveit_msgs::msg::AttachedCollisionObject> collision_objects;
  ps.getAttachedCollisionObjectMsgs(collision_objects);
  std::set<std::string> collision_objects_names;
  for (const auto& collision_object : collision_objects)
    collision_objects_names.emplace(collision_object.object.id);
  return collision_objects_names;
}
 
TEST(PlanningScene, RobotStateDiffBug)
{
  auto urdf_model = moveit::core::loadModelInterface("panda");
  auto srdf_model = std::make_shared<srdf::Model>();
  auto ps = std::make_shared<planning_scene::PlanningScene>(urdf_model, srdf_model);
 
  // Adding collision objects incrementally
  {
    const auto ps1 = create_planning_scene_diff(*ps, "object1", moveit_msgs::msg::CollisionObject::ADD);
    const auto ps2 = create_planning_scene_diff(*ps, "object2", moveit_msgs::msg::CollisionObject::ADD);
 
    ps->usePlanningSceneMsg(ps1);
    ps->usePlanningSceneMsg(ps2);
 
    EXPECT_EQ(get_collision_objects_names(*ps), (std::set<std::string>{ "object1", "object2" }));
  }
 
  // Removing a collision object
  {
    const auto ps1 = create_planning_scene_diff(*ps, "object2", moveit_msgs::msg::CollisionObject::REMOVE);
 
    ps->usePlanningSceneMsg(ps1);
    EXPECT_EQ(get_collision_objects_names(*ps), (std::set<std::string>{ "object1" }));
  }
 
  // Adding attached collision objects incrementally
  ps = std::make_shared<planning_scene::PlanningScene>(urdf_model, srdf_model);
  {
    const auto ps1 = create_planning_scene_diff(*ps, "object1", moveit_msgs::msg::CollisionObject::ADD, true);
    const auto ps2 = create_planning_scene_diff(*ps, "object2", moveit_msgs::msg::CollisionObject::ADD, true);
 
    ps->usePlanningSceneMsg(ps1);
    ps->usePlanningSceneMsg(ps2);
    EXPECT_TRUE(get_collision_objects_names(*ps).empty());
    EXPECT_EQ(get_attached_collision_objects_names(*ps), (std::set<std::string>{ "object1", "object2" }));
  }
 
  // Removing an attached collision object
  {
    const auto ps1 = create_planning_scene_diff(*ps, "object2", moveit_msgs::msg::CollisionObject::REMOVE, true);
    ps->usePlanningSceneMsg(ps1);
 
    EXPECT_EQ(get_collision_objects_names(*ps), (std::set<std::string>{ "object2" }));
    EXPECT_EQ(get_attached_collision_objects_names(*ps), (std::set<std::string>{ "object1" }));
  }
 
  // Turn an existing collision object into an attached object
  {
    const auto ps1 = create_planning_scene_diff(*ps, "object2", moveit_msgs::msg::CollisionObject::ADD, true, false);
    ps->usePlanningSceneMsg(ps1);
 
    EXPECT_TRUE(get_collision_objects_names(*ps).empty());
    EXPECT_EQ(get_attached_collision_objects_names(*ps), (std::set<std::string>{ "object1", "object2" }));
  }
 
  // Removing an attached collision object completely
  {
    auto ps1 = ps->diff();
    moveit_msgs::msg::CollisionObject co;
    co.id = "object2";
    co.operation = moveit_msgs::msg::CollisionObject::REMOVE;
    moveit_msgs::msg::AttachedCollisionObject aco;
    aco.object = co;
 
    ps1->processAttachedCollisionObjectMsg(aco);  // detach
    ps1->processCollisionObjectMsg(co);           // and eventually remove object
 
    moveit_msgs::msg::PlanningScene msg;
    ps1->getPlanningSceneDiffMsg(msg);
    ps->usePlanningSceneMsg(msg);
 
    EXPECT_TRUE(get_collision_objects_names(*ps).empty());
    EXPECT_EQ(get_attached_collision_objects_names(*ps), (std::set<std::string>{ "object1" }));
  }
}
 
#ifndef INSTANTIATE_TEST_SUITE_P  // prior to gtest 1.10
#define INSTANTIATE_TEST_SUITE_P(...) INSTANTIATE_TEST_CASE_P(__VA_ARGS__)
#endif
 
// instantiate parameterized tests for common collision plugins
INSTANTIATE_TEST_SUITE_P(PluginTests, CollisionDetectorTests, testing::Values("FCL", "Bullet"));
 
int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}