global_planner_component.cpp

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2020, PickNik Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of PickNik Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
#include <moveit/global_planner/global_planner_component.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/robot_state/conversions.h>
#include <moveit_msgs/msg/move_it_error_codes.hpp>
 
#include <chrono>
#include <thread>
 
namespace
{
const auto JOIN_THREAD_TIMEOUT = std::chrono::seconds(1);
}  // namespace
 
namespace moveit::hybrid_planning
{
using namespace std::chrono_literals;
const std::string UNDEFINED = "<undefined>";
 
GlobalPlannerComponent::GlobalPlannerComponent(const rclcpp::NodeOptions& options)
  : node_{ std::make_shared<rclcpp::Node>("global_planner_component", options) }
{
  if (!initializeGlobalPlanner())
  {
    throw std::runtime_error("Failed to initialize Global Planner Component");
  }
}
 
bool GlobalPlannerComponent::initializeGlobalPlanner()
{
  // Initialize global planning request action server
  cb_group_ = node_->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
  global_planning_request_server_ = rclcpp_action::create_server<moveit_msgs::action::GlobalPlanner>(
      node_, "global_planning_action",
      // Goal callback
      [this](const rclcpp_action::GoalUUID& /*unused*/,
             const std::shared_ptr<const moveit_msgs::action::GlobalPlanner::Goal>& /*unused*/) {
        RCLCPP_INFO(node_->get_logger(), "Received global planning goal request");
        // If another goal is active, cancel it and reject this goal
        if (long_callback_thread_.joinable())
        {
          // Try to terminate the execution thread
          auto future = std::async(std::launch::async, &std::thread::join, &long_callback_thread_);
          if (future.wait_for(JOIN_THREAD_TIMEOUT) == std::future_status::timeout)
          {
            RCLCPP_WARN(node_->get_logger(), "Another goal was running. Rejecting the new hybrid planning goal.");
            return rclcpp_action::GoalResponse::REJECT;
          }
          if (!global_planner_instance_->reset())
          {
            throw std::runtime_error("Failed to reset the global planner while aborting current global planning");
          }
        }
        return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
      },
      // Cancel callback
      [this](const std::shared_ptr<rclcpp_action::ServerGoalHandle<moveit_msgs::action::GlobalPlanner>>& /*unused*/) {
        RCLCPP_INFO(node_->get_logger(), "Received request to cancel global planning goal");
        if (long_callback_thread_.joinable())
        {
          long_callback_thread_.join();
        }
        if (!global_planner_instance_->reset())
        {
          throw std::runtime_error("Failed to reset the global planner while aborting current global planning");
        }
        return rclcpp_action::CancelResponse::ACCEPT;
      },
      // Execution callback
      [this](const std::shared_ptr<rclcpp_action::ServerGoalHandle<moveit_msgs::action::GlobalPlanner>>& goal_handle) {
        // this needs to return quickly to avoid blocking the executor, so spin up a new thread
        if (long_callback_thread_.joinable())
        {
          long_callback_thread_.join();
          global_planner_instance_->reset();
        }
        long_callback_thread_ = std::thread(&GlobalPlannerComponent::globalPlanningRequestCallback, this, goal_handle);
      },
      rcl_action_server_get_default_options(), cb_group_);
 
  global_trajectory_pub_ = node_->create_publisher<moveit_msgs::msg::MotionPlanResponse>("global_trajectory", 1);
 
  // Load global planner plugin
  planner_plugin_name_ = node_->declare_parameter<std::string>("global_planner_name", UNDEFINED);
 
  try
  {
    global_planner_plugin_loader_ = std::make_unique<pluginlib::ClassLoader<GlobalPlannerInterface>>(
        "moveit_hybrid_planning", "moveit::hybrid_planning::GlobalPlannerInterface");
  }
  catch (pluginlib::PluginlibException& ex)
  {
    RCLCPP_ERROR(node_->get_logger(), "Exception while creating global planner plugin loader: '%s'", ex.what());
    return false;
  }
  try
  {
    global_planner_instance_ = global_planner_plugin_loader_->createUniqueInstance(planner_plugin_name_);
  }
  catch (pluginlib::PluginlibException& ex)
  {
    RCLCPP_ERROR(node_->get_logger(), "Exception while loading global planner '%s': '%s'", planner_plugin_name_.c_str(),
                 ex.what());
    return false;
  }
 
  // Initialize global planner plugin
  if (!global_planner_instance_->initialize(node_))
  {
    RCLCPP_ERROR(node_->get_logger(), "Unable to initialize global planner plugin '%s'", planner_plugin_name_.c_str());
    return false;
  }
  RCLCPP_INFO(node_->get_logger(), "Using global planner plugin '%s'", planner_plugin_name_.c_str());
  return true;
}
 
void GlobalPlannerComponent::globalPlanningRequestCallback(
    const std::shared_ptr<rclcpp_action::ServerGoalHandle<moveit_msgs::action::GlobalPlanner>>& goal_handle)
{
  // Plan global trajectory
  moveit_msgs::msg::MotionPlanResponse planning_solution = global_planner_instance_->plan(goal_handle);
 
  // Send action response
  auto result = std::make_shared<moveit_msgs::action::GlobalPlanner::Result>();
  result->response = planning_solution;
 
  if (planning_solution.error_code.val == moveit_msgs::msg::MoveItErrorCodes::SUCCESS)
  {
    // Publish global planning solution to the local planner
    global_trajectory_pub_->publish(planning_solution);
    goal_handle->succeed(result);
  }
  else
  {
    goal_handle->abort(result);
  }
 
  // Reset the global planner
  global_planner_instance_->reset();
};
}  // namespace moveit::hybrid_planning
 
// Register the component with class_loader
#include <rclcpp_components/register_node_macro.hpp>
RCLCPP_COMPONENTS_REGISTER_NODE(moveit::hybrid_planning::GlobalPlannerComponent)