41 #include <kdl/rotational_interpolation_sa.hpp>
42 #include <kdl/trajectory_segment.hpp>
43 #include <kdl/utilities/error.h>
44 #include <kdl/utilities/utility.h>
46 #include <tf2_eigen_kdl/tf2_eigen_kdl.hpp>
47 #include <rclcpp/logger.hpp>
48 #include <rclcpp/logging.hpp>
49 #include <tf2_eigen/tf2_eigen.hpp>
50 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
54 static const rclcpp::Logger LOGGER =
55 rclcpp::get_logger(
"moveit.pilz_industrial_motion_planner.trajectory_generator_circ");
63 throw TrajectoryGeneratorInvalidLimitsException(
64 "Cartesian limits are not fully set for CIRC trajectory generator.");
70 if (!(req.path_constraints.name ==
"interim" || req.path_constraints.name ==
"center"))
72 std::ostringstream os;
73 os <<
"No path constraint named \"interim\" or \"center\" found (found "
74 "unknown constraint: "
75 <<
"\"req.path_constraints.name\""
77 throw UnknownPathConstraintName(os.str());
80 if (req.path_constraints.position_constraints.size() != 1)
82 throw NoPositionConstraints(
"CIRC trajectory generator needs valid a position constraint");
85 if (req.path_constraints.position_constraints.front().constraint_region.primitive_poses.size() != 1)
87 throw NoPrimitivePose(
"CIRC trajectory generator needs valid a primitive pose");
91 void TrajectoryGeneratorCIRC::extractMotionPlanInfo(
const planning_scene::PlanningSceneConstPtr&
scene,
93 TrajectoryGenerator::MotionPlanInfo& info)
const
95 RCLCPP_DEBUG(LOGGER,
"Extract necessary information from motion plan request.");
97 info.group_name = req.group_name;
101 if (!req.goal_constraints.front().joint_constraints.empty())
104 info.link_name = req.path_constraints.position_constraints.front().link_name;
107 throw UnknownLinkNameOfAuxiliaryPoint(
"Unknown link name of CIRC auxiliary point");
110 if (req.goal_constraints.front().joint_constraints.size() !=
111 robot_model_->getJointModelGroup(req.group_name)->getActiveJointModelNames().size())
113 std::ostringstream os;
114 os <<
"Number of joint constraint = " << req.goal_constraints.front().joint_constraints.size()
115 <<
" not equal to active joints of group = "
116 <<
robot_model_->getJointModelGroup(req.group_name)->getActiveJointModelNames().size();
117 throw NumberOfConstraintsMismatch(os.str());
120 for (
const auto& joint_item : req.goal_constraints.front().joint_constraints)
122 info.goal_joint_position[joint_item.joint_name] = joint_item.position;
125 computeLinkFK(robot_state, info.link_name, info.goal_joint_position, info.goal_pose);
131 info.link_name = req.goal_constraints.front().position_constraints.front().link_name;
132 if (req.goal_constraints.front().position_constraints.front().header.frame_id.empty() ||
133 req.goal_constraints.front().orientation_constraints.front().header.frame_id.empty())
135 RCLCPP_WARN(LOGGER,
"Frame id is not set in position/orientation constraints of "
136 "goal. Use model frame as default");
141 frame_id = req.goal_constraints.front().position_constraints.front().header.frame_id;
149 std::map<std::string, double> ik_solution;
154 std::ostringstream os;
155 os <<
"Failed to compute inverse kinematics for link: " << info.link_name <<
" of goal pose";
156 throw CircInverseForGoalIncalculable(os.str());
162 computeLinkFK(robot_state, info.link_name, info.start_joint_position, info.start_pose);
165 std::string center_point_frame_id;
167 info.circ_path_point.first = req.path_constraints.name;
168 if (req.path_constraints.position_constraints.front().header.frame_id.empty())
170 RCLCPP_WARN(LOGGER,
"Frame id is not set in position constraints of "
171 "path. Use model frame as default");
176 center_point_frame_id = req.path_constraints.position_constraints.front().header.frame_id;
179 Eigen::Isometry3d center_point_pose;
180 tf2::fromMsg(req.path_constraints.position_constraints.front().constraint_region.primitive_poses.front(),
183 center_point_pose =
scene->getFrameTransform(center_point_frame_id) * center_point_pose;
185 if (!req.goal_constraints.front().position_constraints.empty())
187 const moveit_msgs::msg::Constraints& goal = req.goal_constraints.front();
188 geometry_msgs::msg::Point center_point = tf2::toMsg(
Eigen::Vector3d(center_point_pose.translation()));
189 info.circ_path_point.second =
getConstraintPose(center_point, goal.orientation_constraints.front().orientation,
190 goal.position_constraints.front().target_point_offset)
195 info.circ_path_point.second = center_point_pose.translation();
199 void TrajectoryGeneratorCIRC::plan(
const planning_scene::PlanningSceneConstPtr&
scene,
201 const double& sampling_time, trajectory_msgs::msg::JointTrajectory& joint_trajectory)
203 std::unique_ptr<KDL::Path> cart_path(setPathCIRC(plan_info));
204 std::unique_ptr<KDL::VelocityProfile> vel_profile(
211 KDL::Trajectory_Segment cart_trajectory(cart_path.get(), vel_profile.get(),
false);
213 moveit_msgs::msg::MoveItErrorCodes error_code;
217 plan_info.link_name, plan_info.start_joint_position, sampling_time, joint_trajectory,
220 throw CircTrajectoryConversionFailure(
"Failed to generate valid joint trajectory from the Cartesian path",
225 std::unique_ptr<KDL::Path> TrajectoryGeneratorCIRC::setPathCIRC(
const MotionPlanInfo& info)
const
227 RCLCPP_DEBUG(LOGGER,
"Set Cartesian path for CIRC command.");
229 KDL::Frame start_pose, goal_pose;
230 tf2::transformEigenToKDL(info.start_pose, start_pose);
231 tf2::transformEigenToKDL(info.goal_pose, goal_pose);
233 const auto& eigen_path_point = info.circ_path_point.second;
234 const KDL::Vector path_point{ eigen_path_point.x(), eigen_path_point.y(), eigen_path_point.z() };
247 if (info.circ_path_point.first ==
"center")
256 catch (KDL::Error_MotionPlanning_Circle_No_Plane& e)
258 std::ostringstream os;
259 os <<
"Failed to create path object for circle." << e.Description();
260 throw CircleNoPlane(os.str());
262 catch (KDL::Error_MotionPlanning_Circle_ToSmall& e)
264 std::ostringstream os;
265 os <<
"Failed to create path object for circle." << e.Description();
266 throw CircleToSmall(os.str());
270 std::ostringstream os;
271 os <<
"Failed to create path object for circle." << e.
Description();
272 throw CenterPointDifferentRadius(os.str());
const char * Description() const override
Representation of a robot's state. This includes position, velocity, acceleration and effort.
double getMaxRotationalVelocity() const
Return the maximal rotational velocity [rad/s], 0 if nothing was set.
double getMaxTranslationalVelocity() const
Return the maximal translational velocity [m/s], 0 if nothing was set.
This class combines CartesianLimit and JointLimits into on single class.
bool hasFullCartesianLimits() const
Return if this LimitsContainer has defined cartesian limits.
const JointLimitsContainer & getJointLimitContainer() const
Obtain the Joint Limits from the container.
const CartesianLimit & getCartesianLimits() const
Return the cartesian limits.
static std::unique_ptr< KDL::Path > circleFromCenter(const KDL::Frame &start_pose, const KDL::Frame &goal_pose, const KDL::Vector ¢er_point, double eqradius)
set the path circle from start, goal and center point
static std::unique_ptr< KDL::Path > circleFromInterim(const KDL::Frame &start_pose, const KDL::Frame &goal_pose, const KDL::Vector &interim_point, double eqradius)
set circle from start, goal and interim point
TrajectoryGeneratorCIRC(const moveit::core::RobotModelConstPtr &robot_model, const pilz_industrial_motion_planner::LimitsContainer &planner_limits, const std::string &group_name)
Constructor of CIRC Trajectory Generator.
Base class of trajectory generators.
const moveit::core::RobotModelConstPtr robot_model_
std::unique_ptr< KDL::VelocityProfile > cartesianTrapVelocityProfile(const double &max_velocity_scaling_factor, const double &max_acceleration_scaling_factor, const std::unique_ptr< KDL::Path > &path) const
build cartesian velocity profile for the path
const pilz_industrial_motion_planner::LimitsContainer planner_limits_
Vec3fX< details::Vec3Data< double > > Vector3d
bool computeLinkFK(moveit::core::RobotState &robot_state, const std::string &link_name, const std::map< std::string, double > &joint_state, Eigen::Isometry3d &pose)
compute the pose of a link at a given robot state
bool generateJointTrajectory(const planning_scene::PlanningSceneConstPtr &scene, const JointLimitsContainer &joint_limits, const KDL::Trajectory &trajectory, const std::string &group_name, const std::string &link_name, const std::map< std::string, double > &initial_joint_position, const double &sampling_time, trajectory_msgs::msg::JointTrajectory &joint_trajectory, moveit_msgs::msg::MoveItErrorCodes &error_code, bool check_self_collision=false)
Generate joint trajectory from a KDL Cartesian trajectory.
bool computePoseIK(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name, const std::string &link_name, const Eigen::Isometry3d &pose, const std::string &frame_id, const std::map< std::string, double > &seed, std::map< std::string, double > &solution, bool check_self_collision=true, const double timeout=0.0)
compute the inverse kinematics of a given pose, also check robot self collision
moveit_msgs::msg::MotionPlanRequest MotionPlanRequest
Eigen::Isometry3d getConstraintPose(const geometry_msgs::msg::Point &position, const geometry_msgs::msg::Quaternion &orientation, const geometry_msgs::msg::Vector3 &offset)
Adapt goal pose, defined by position+orientation, to consider offset.