display_random_state.cpp

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/* Author: Ioan Sucan */
 
#include <chrono>
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <moveit/utils/logger.hpp>
 
using namespace std::chrono_literals;
 
int main(int argc, char** argv)
{
  rclcpp::init(argc, argv);
  auto node = rclcpp::Node::make_shared("display_random_state");
  moveit::setNodeLoggerName(node->get_name());
 
  bool valid = false;
  bool invalid = false;
  for (int i = 0; i < argc; ++i)
  {
    if (strcmp(argv[i], "--valid") == 0)
    {
      valid = true;
      break;
    }
    if (strcmp(argv[i], "--invalid") == 0)
    {
      invalid = true;
      break;
    }
  }
 
  rclcpp::executors::MultiThreadedExecutor executor;
  executor.add_node(node);
 
  robot_model_loader::RobotModelLoader::Options opt;
  opt.robot_description = "robot_description";
  auto rml = std::make_shared<robot_model_loader::RobotModelLoader>(node, opt);
  planning_scene_monitor::PlanningSceneMonitor psm(node, rml);
  psm.startWorldGeometryMonitor();
  psm.startSceneMonitor();
  auto pub_scene = node->create_publisher<moveit_msgs::msg::PlanningScene>("planning_scene", 1);
 
  rclcpp::sleep_for(500ms);
 
  do
  {
    if (!psm.getPlanningScene())
    {
      RCLCPP_ERROR(node->get_logger(), "Planning scene did not load properly, exiting...");
      break;
    }
 
    std::cout << "Type a number and hit Enter. That number of ";
    if (valid)
    {
      std::cout << "valid ";
    }
    else if (invalid)
    {
      std::cout << "invalid ";
    }
    std::cout << "states will be randomly generated at an interval of one second and published as a planning scene."
              << '\n';
    std::size_t n;
    std::cin >> n;
 
    for (std::size_t i = 0; i < n; ++i)
    {
      if (valid)
      {
        bool found = false;
        unsigned int attempts = 0;
        do
        {
          attempts++;
          psm.getPlanningScene()->getCurrentStateNonConst().setToRandomPositions();
          collision_detection::CollisionRequest req;
          collision_detection::CollisionResult res;
          psm.getPlanningScene()->checkCollision(req, res);
          found = !res.collision;
        } while (!found && attempts < 100);
        if (!found)
        {
          std::cout << "Unable to find valid state" << '\n';
          continue;
        }
      }
      else if (invalid)
      {
        bool found = false;
        unsigned int attempts = 0;
        do
        {
          attempts++;
          psm.getPlanningScene()->getCurrentStateNonConst().setToRandomPositions();
          collision_detection::CollisionRequest req;
          collision_detection::CollisionResult res;
          psm.getPlanningScene()->checkCollision(req, res);
          found = res.collision;
        } while (!found && attempts < 100);
        if (!found)
        {
          std::cout << "Unable to find invalid state" << '\n';
          continue;
        }
      }
      else
        psm.getPlanningScene()->getCurrentStateNonConst().setToRandomPositions();
 
      moveit_msgs::msg::PlanningScene psmsg;
      psm.getPlanningScene()->getPlanningSceneMsg(psmsg);
      pub_scene->publish(psmsg);
      std::cout << psm.getPlanningScene()->getCurrentState() << '\n';
 
      rclcpp::sleep_for(1s);
    }
  } while (rclcpp::ok());
 
  rclcpp::shutdown();
  return 0;
}