check_start_state_collision.cpp

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/* Author: Ioan Sucan, Sebastian Jahr
 * Desc: This adapter checks if the start state is in collision.
 */
 
#include <moveit/planning_interface/planning_request_adapter.h>
#include <moveit/robot_state/conversions.h>
#include <moveit/trajectory_processing/trajectory_tools.h>
#include <class_loader/class_loader.hpp>
#include <rclcpp/logging.hpp>
#include <rclcpp/node.hpp>
#include <rclcpp/parameter_value.hpp>
#include <moveit/utils/logger.hpp>
 
#include <default_request_adapter_parameters.hpp>
 
namespace default_planning_request_adapters
{
 
class CheckStartStateCollision : public planning_interface::PlanningRequestAdapter
{
public:
  CheckStartStateCollision() : logger_(moveit::getLogger("moveit.ros.validate_start_state"))
  {
  }
 
  [[nodiscard]] std::string getDescription() const override
  {
    return std::string("CheckStartStateCollision");
  }
 
  [[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 start state TODO(sjahr): Should we check if req.start state == planning scene start state?
    moveit::core::RobotState start_state = planning_scene->getCurrentState();
    moveit::core::robotStateMsgToRobotState(planning_scene->getTransforms(), req.start_state, start_state);
 
    collision_detection::CollisionRequest creq;
    creq.group_name = req.group_name;
    collision_detection::CollisionResult cres;
    // TODO(sjahr): Would verbose make sense?
    planning_scene->checkCollision(creq, cres, start_state);
 
    auto status = moveit::core::MoveItErrorCode();
    if (!cres.collision)
    {
      status.val = moveit_msgs::msg::MoveItErrorCodes::SUCCESS;
    }
    else
    {
      collision_detection::CollisionResult::ContactMap contacts;
      planning_scene->getCollidingPairs(contacts);
 
      std::string contact_information = std::to_string(contacts.size()) + " contact(s) detected : ";
 
      for (const auto& [contact_pair, contact_info] : contacts)
      {
        contact_information.append(contact_pair.first + " - " + contact_pair.second + ", ");
      }
 
      status.val = moveit_msgs::msg::MoveItErrorCodes::START_STATE_IN_COLLISION;
      status.message = std::string(contact_information);
    }
    status.source = getDescription();
    return status;
  }
 
private:
  rclcpp::Logger logger_;
};
}  // namespace default_planning_request_adapters
 
CLASS_LOADER_REGISTER_CLASS(default_planning_request_adapters::CheckStartStateCollision,
                            planning_interface::PlanningRequestAdapter)