moveit2
The MoveIt Motion Planning Framework for ROS 2.
transform_provider.cpp
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34 
35 /* Author: Suat Gedikli */
36 
38 #include <tf2_ros/transform_listener.h>
39 #include <tf2_ros/buffer.h>
40 #include <tf2_eigen/tf2_eigen.hpp>
41 
42 TransformProvider::TransformProvider(double update_rate) : stop_(true), update_rate_(update_rate)
43 {
44  tf_buffer_ = std::make_shared<tf2_ros::Buffer>();
45  tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_);
46  psm_ = std::make_shared<planning_scene_monitor::PlanningSceneMonitor>("robot_description", tf_buffer_);
47  psm_->startStateMonitor();
48 }
49 
51 {
52  stop();
53 }
54 
56 {
57  stop_ = false;
58  thread_ = std::thread(&TransformProvider::run, this);
59 }
60 
62 {
63  stop_ = true;
64  thread_.join();
65 }
66 
68 {
69  if (!stop_)
70  throw std::runtime_error("Can not add handles if TransformProvider is running");
71 
72  handle2context_[handle] = std::make_shared<TransformContext>(name);
73 }
74 
75 void TransformProvider::setFrame(const std::string& frame)
76 {
77  if (frame_id_ != frame)
78  {
79  frame_id_ = frame;
80  for (auto& context_it : handle2context_)
81  {
82  // invalidate transformations
83  context_it.second->mutex_.lock();
84  context_it.second->transformation_.matrix().setZero();
85  context_it.second->mutex_.unlock();
86  }
87  }
88 }
89 
90 bool TransformProvider::getTransform(mesh_filter::MeshHandle handle, Eigen::Isometry3d& transform) const
91 {
92  auto context_it = handle2context_.find(handle);
93 
94  if (context_it == handle2context_.end())
95  {
96  ROS_ERROR("Unable to find mesh with handle %d", handle);
97  return false;
98  }
99  context_it->second->mutex_.lock();
100  transform = context_it->second->transformation_;
101  context_it->second->mutex_.unlock();
102  return !(transform.matrix().isZero(0));
103 }
104 
105 void TransformProvider::run()
106 {
107  if (handle2context_.empty())
108  throw std::runtime_error("TransformProvider is listening to empty list of frames!");
109 
110  while (ros::ok() && !stop_)
111  {
112  updateTransforms();
113  update_rate_.sleep();
114  }
115 }
116 
117 void TransformProvider::setUpdateRate(double update_rate)
118 {
119  update_rate_ = ros::Rate(update_rate);
120 }
121 
122 void TransformProvider::updateTransforms()
123 {
124  // Don't bother if frame_id_ is empty (true initially)
125  if (frame_id_.empty())
126  {
127  ROS_DEBUG_THROTTLE(2., "Not updating transforms because frame_id_ is empty.");
128  return;
129  }
130 
131  static tf2::Stamped<Eigen::Isometry3d> input_transform, output_transform;
132  static moveit::core::RobotStatePtr robot_state;
133  robot_state = psm_->getStateMonitor()->getCurrentState();
134  try
135  {
136  geometry_msgs::TransformStamped common_tf =
137  tf_buffer_->lookupTransform(frame_id_, psm_->getPlanningScene()->getPlanningFrame(), ros::Time(0.0));
138  input_transform.stamp_ = common_tf.header.stamp;
139  }
140  catch (tf2::TransformException& ex)
141  {
142  ROS_ERROR("TF Problem: %s", ex.what());
143  return;
144  }
145  input_transform.frame_id_ = psm_->getPlanningScene()->getPlanningFrame();
146 
147  for (auto& context_it : handle2context_)
148  {
149  try
150  {
151  // TODO: check logic here - which global collision body's transform should be used?
152  input_transform.setData(robot_state->getGlobalLinkTransform(context_it.second->frame_id_));
153  tf_buffer_->transform(input_transform, output_transform, frame_id_);
154  }
155  catch (const tf2::TransformException& ex)
156  {
157  handle2context_[context_it.first]->mutex_.lock();
158  handle2context_[context_it.first]->transformation_.matrix().setZero();
159  handle2context_[context_it.first]->mutex_.unlock();
160  continue;
161  }
162  catch (std::exception& ex)
163  {
164  ROS_ERROR("Caught %s while updating transforms", ex.what());
165  }
166  handle2context_[context_it.first]->mutex_.lock();
167  handle2context_[context_it.first]->transformation_ = static_cast<Eigen::Isometry3d>(output_transform);
168  handle2context_[context_it.first]->mutex_.unlock();
169  }
170 }
void start()
starts the updating process. Done in a separate thread
void stop()
stops the update process/thread.
void setFrame(const std::string &frame)
sets the camera frame id. The returned transformations are in respect to this coordinate frame
void addHandle(mesh_filter::MeshHandle handle, const std::string &name)
registers a mesh with its handle
~TransformProvider()
Destructor.
void setUpdateRate(double update_rate)
sets the update rate in Hz. This should be slow enough to reduce the system load but fast enough to g...
TransformProvider(double update_rate=30.)
Constructor.
bool getTransform(mesh_filter::MeshHandle handle, Eigen::Isometry3d &transform) const
returns the current transformation of a mesh given by its handle
unsigned int MeshHandle
name
Definition: setup.py:7