check_start_state_bounds.cpp

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/* Author: Ioan Sucan
 * Desc: The CheckStartStateBounds adapter validates if the start state is within the joint limits
 * specified in the URDF. The need for this adapter arises in situations where the joint limits for the physical robot
 * are not properly configured. The robot may then end up in a configuration where one or more of its joints is slightly
 * outside its joint limits. In this case, the motion planner is unable to plan since it will think that the starting
 * state is outside joint limits. The “CheckStartStateBounds” planning request adapter can “fix” the start state by
 * moving it to the joint limit. However, this is obviously not the right solution every time - e.g. where the joint is
 * really outside its joint limits by a large amount. A parameter for the adapter specifies how much the joint can be
 * outside its limits for it to be “fixable”.
 */
 
#include <moveit/planning_interface/planning_request_adapter.hpp>
#include <moveit/trajectory_processing/trajectory_tools.hpp>
#include <moveit/robot_state/conversions.hpp>
#include <class_loader/class_loader.hpp>
#include <rclcpp/logger.hpp>
#include <rclcpp/logging.hpp>
#include <rclcpp/node.hpp>
#include <rclcpp/parameter_value.hpp>
#include <moveit/utils/logger.hpp>
 
#include <moveit_ros_planning/default_request_adapter_parameters.hpp>
 
namespace default_planning_request_adapters
{
 
class CheckStartStateBounds : public planning_interface::PlanningRequestAdapter
{
public:
  CheckStartStateBounds() : logger_(moveit::getLogger("moveit.ros.check_start_state_bounds"))
  {
  }
 
  void initialize(const rclcpp::Node::SharedPtr& node, const std::string& parameter_namespace) override
  {
    param_listener_ = std::make_unique<default_request_adapter_parameters::ParamListener>(node, parameter_namespace);
  }
 
  [[nodiscard]] std::string getDescription() const override
  {
    return std::string("CheckStartStateBounds");
  }
 
  [[nodiscard]] moveit::core::MoveItErrorCode adapt(const planning_scene::PlanningSceneConstPtr& planning_scene,
                                                    planning_interface::MotionPlanRequest& req) const override
  {
    RCLCPP_DEBUG(logger_, "Running '%s'", getDescription().c_str());
 
    // Get the specified start state
    moveit::core::RobotState start_state = planning_scene->getCurrentState();
    moveit::core::robotStateMsgToRobotState(planning_scene->getTransforms(), req.start_state, start_state);
 
    // Get joint models
    const std::vector<const moveit::core::JointModel*>& jmodels =
        planning_scene->getRobotModel()->hasJointModelGroup(req.group_name) ?
            planning_scene->getRobotModel()->getJointModelGroup(req.group_name)->getJointModels() :
            planning_scene->getRobotModel()->getJointModels();
 
    // Read parameters
    const auto params = param_listener_->get_params();
 
    bool should_fix_state = false;
    bool is_out_of_bounds = false;
    for (const moveit::core::JointModel* jmodel : jmodels)
    {
      // Check if we have a revolute, continuous joint. If we do, then we only need to make sure
      // it is within the model's declared bounds (usually -Pi, Pi), since the values wrap around.
      // It is possible that the encoder maintains values outside the range [-Pi, Pi], to inform
      // how many times the joint was wrapped. Because of this, we remember the offsets for continuous
      // joints, and we undo them when the plan comes from the planner.
      switch (jmodel->getType())
      {
        case moveit::core::JointModel::REVOLUTE:
        {
          if (static_cast<const moveit::core::RevoluteJointModel*>(jmodel)->isContinuous())
          {
            double initial = start_state.getJointPositions(jmodel)[0];
            start_state.enforceBounds(jmodel);
            double after = start_state.getJointPositions(jmodel)[0];
            if (fabs(initial - after) > std::numeric_limits<double>::epsilon())
            {
              should_fix_state |= true;
            }
          }
          break;
        }
        // Normalize yaw; no offset needs to be remembered
        case moveit::core::JointModel::PLANAR:
        {
          const double* p = start_state.getJointPositions(jmodel);
          double copy[3] = { p[0], p[1], p[2] };
          if (static_cast<const moveit::core::PlanarJointModel*>(jmodel)->normalizeRotation(copy))
          {
            start_state.setJointPositions(jmodel, copy);
            should_fix_state |= true;
          }
          break;
        }
        case moveit::core::JointModel::FLOATING:
        {
          // Normalize quaternions
          const double* p = start_state.getJointPositions(jmodel);
          double copy[7] = { p[0], p[1], p[2], p[3], p[4], p[5], p[6] };
          if (static_cast<const moveit::core::FloatingJointModel*>(jmodel)->normalizeRotation(copy))
          {
            start_state.setJointPositions(jmodel, copy);
            should_fix_state |= true;
          }
          break;
        }
        default:
        {
          break;  // do nothing
        }
      }
 
      // Check the joint against its bounds.
      if (!start_state.satisfiesBounds(jmodel))
      {
        is_out_of_bounds |= true;
 
        std::stringstream joint_values;
        std::stringstream joint_bounds_low;
        std::stringstream joint_bounds_hi;
        const double* p = start_state.getJointPositions(jmodel);
        for (std::size_t k = 0; k < jmodel->getVariableCount(); ++k)
        {
          joint_values << p[k] << ' ';
        }
        const moveit::core::JointModel::Bounds& b = jmodel->getVariableBounds();
        for (const moveit::core::VariableBounds& variable_bounds : b)
        {
          joint_bounds_low << variable_bounds.min_position_ << ' ';
          joint_bounds_hi << variable_bounds.max_position_ << ' ';
        }
        RCLCPP_ERROR(logger_,
                     "Joint '%s' from the starting state is outside bounds by: [%s] should be in "
                     "the range [%s], [%s].",
                     jmodel->getName().c_str(), joint_values.str().c_str(), joint_bounds_low.str().c_str(),
                     joint_bounds_hi.str().c_str());
      }
    }
 
    // Package up the adapter result, changing the state if applicable.
    auto status = moveit::core::MoveItErrorCode();
    status.source = getDescription();
    status.val = moveit_msgs::msg::MoveItErrorCodes::SUCCESS;
 
    if (is_out_of_bounds || (!params.fix_start_state && should_fix_state))
    {
      status.val = moveit_msgs::msg::MoveItErrorCodes::START_STATE_INVALID;
      status.message = std::string("Start state out of bounds.");
    }
    else if (params.fix_start_state && should_fix_state)
    {
      constexpr auto msg_string = "Normalized start state.";
      status.message = msg_string;
      RCLCPP_WARN(logger_, msg_string);
      moveit::core::robotStateToRobotStateMsg(start_state, req.start_state);
    }
    return status;
  }
 
private:
  std::unique_ptr<default_request_adapter_parameters::ParamListener> param_listener_;
  rclcpp::Logger logger_;
};
}  // namespace default_planning_request_adapters
 
CLASS_LOADER_REGISTER_CLASS(default_planning_request_adapters::CheckStartStateBounds,
                            planning_interface::PlanningRequestAdapter)