current_state_monitor.hpp

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <chrono>
#include <functional>
#include <string>
#include <condition_variable>
#include <mutex>
 
#include <boost/signals2.hpp>
 
#include <rclcpp/rclcpp.hpp>
#include <rclcpp/version.h>
#include <sensor_msgs/msg/joint_state.hpp>
#include <tf2_msgs/msg/tf_message.hpp>
 
// For Rolling, Kilted, and newer
#if RCLCPP_VERSION_GTE(29, 6, 0)
#include <tf2_ros/buffer.hpp>
// For Jazzy and older
#else
#include <tf2_ros/buffer.h>
#endif
 
#include <moveit/robot_state/robot_state.hpp>
 
namespace planning_scene_monitor
{
using JointStateUpdateCallback = std::function<void(sensor_msgs::msg::JointState::ConstSharedPtr)>;
 
class CurrentStateMonitor
{
public:
  class MiddlewareHandle
  {
  public:
    using TfCallback = std::function<void(const tf2_msgs::msg::TFMessage::ConstSharedPtr)>;
 
    virtual ~MiddlewareHandle() = default;
 
    virtual rclcpp::Time now() const = 0;
 
    virtual void createJointStateSubscription(const std::string& topic, JointStateUpdateCallback callback) = 0;
 
    virtual void createStaticTfSubscription(TfCallback callback) = 0;
 
    virtual void createDynamicTfSubscription(TfCallback callback) = 0;
 
    virtual void resetJointStateSubscription() = 0;
 
    virtual std::string getJointStateTopicName() const = 0;
 
    virtual bool sleepFor(const std::chrono::nanoseconds& nanoseconds) const = 0;
 
    virtual bool ok() const = 0;
 
    virtual std::string getStaticTfTopicName() const = 0;
 
    virtual std::string getDynamicTfTopicName() const = 0;
 
    virtual void resetTfSubscriptions() = 0;
  };
 
  CurrentStateMonitor(std::unique_ptr<MiddlewareHandle> middleware_handle,
                      const moveit::core::RobotModelConstPtr& robot_model,
                      const std::shared_ptr<tf2_ros::Buffer>& tf_buffer, bool use_sim_time);
 
  CurrentStateMonitor(const rclcpp::Node::SharedPtr& node, const moveit::core::RobotModelConstPtr& robot_model,
                      const std::shared_ptr<tf2_ros::Buffer>& tf_buffer, bool use_sim_time);
 
  ~CurrentStateMonitor();
 
  void startStateMonitor(const std::string& joint_states_topic = "joint_states");
 
  void stopStateMonitor();
 
  bool isActive() const;
 
  const moveit::core::RobotModelConstPtr& getRobotModel() const
  {
    return robot_model_;
  }
 
  std::string getMonitoredTopic() const;
 
  inline bool haveCompleteState() const
  {
    return haveCompleteStateHelper(rclcpp::Time(0, 0, RCL_ROS_TIME), nullptr);
  }
 
  inline bool haveCompleteState(const rclcpp::Time& oldest_allowed_update_time) const
  {
    return haveCompleteStateHelper(oldest_allowed_update_time, nullptr);
  }
 
  inline bool haveCompleteState(const rclcpp::Duration& age) const
  {
    return haveCompleteStateHelper(middleware_handle_->now() - age, nullptr);
  }
 
  inline bool haveCompleteState(std::vector<std::string>& missing_joints) const
  {
    return haveCompleteStateHelper(rclcpp::Time(0, 0, RCL_ROS_TIME), &missing_joints);
  }
 
  inline bool haveCompleteState(const rclcpp::Time& oldest_allowed_update_time,
                                std::vector<std::string>& missing_joints) const
  {
    return haveCompleteStateHelper(oldest_allowed_update_time, &missing_joints);
  }
 
  inline bool haveCompleteState(const rclcpp::Duration& age, std::vector<std::string>& missing_joints) const
  {
    return haveCompleteStateHelper(middleware_handle_->now() - age, &missing_joints);
  }
 
  moveit::core::RobotStatePtr getCurrentState() const;
 
  void setToCurrentState(moveit::core::RobotState& upd) const;
 
  rclcpp::Time getCurrentStateTime() const;
 
  std::pair<moveit::core::RobotStatePtr, rclcpp::Time> getCurrentStateAndTime() const;
 
  std::map<std::string, double> getCurrentStateValues() const;
 
  bool waitForCurrentState(const rclcpp::Time& t = rclcpp::Clock(RCL_ROS_TIME).now(), double wait_time_s = 1.0) const;
 
  bool waitForCompleteState(double wait_time_s) const;
 
  bool waitForCompleteState(const std::string& group, double wait_time_s) const;
 
  const rclcpp::Time& getMonitorStartTime() const
  {
    return monitor_start_time_;
  }
 
  void addUpdateCallback(const JointStateUpdateCallback& fn);
 
  void clearUpdateCallbacks();
 
  void setBoundsError(double error)
  {
    error_ = (error > 0) ? error : -error;
  }
 
  double getBoundsError() const
  {
    return error_;
  }
 
  void enableCopyDynamics(bool enabled)
  {
    copy_dynamics_ = enabled;
  }
 
private:
  bool haveCompleteStateHelper(const rclcpp::Time& oldest_allowed_update_time,
                               std::vector<std::string>* missing_joints) const;
 
  void jointStateCallback(const sensor_msgs::msg::JointState::ConstSharedPtr& joint_state);
  void updateMultiDofJoints();
  void transformCallback(const tf2_msgs::msg::TFMessage::ConstSharedPtr& msg, const bool is_static);
 
  std::unique_ptr<MiddlewareHandle> middleware_handle_;
  std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
  moveit::core::RobotModelConstPtr robot_model_;
  moveit::core::RobotState robot_state_;
  std::map<const moveit::core::JointModel*, rclcpp::Time> joint_time_;
  bool state_monitor_started_;
  bool copy_dynamics_;  // Copy velocity and effort from joint_state
  rclcpp::Time monitor_start_time_ = rclcpp::Time(0, 0, RCL_ROS_TIME);
  double error_;
  rclcpp::Time current_state_time_ = rclcpp::Time(0, 0, RCL_ROS_TIME);
 
  mutable std::mutex state_update_lock_;
  mutable std::condition_variable state_update_condition_;
  std::vector<JointStateUpdateCallback> update_callbacks_;
 
  bool use_sim_time_;
 
  rclcpp::Logger logger_;
};
 
MOVEIT_CLASS_FORWARD(CurrentStateMonitor);  // Defines CurrentStateMonitorPtr, ConstPtr, WeakPtr... etc
}  // namespace planning_scene_monitor