interaction_handler.hpp

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/* Author: Ioan Sucan, Adam Leeper */
 
#pragma once
 
#include <rclcpp/version.h>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <moveit/macros/class_forward.hpp>
#include <moveit/robot_interaction/locked_robot_state.hpp>
#include <visualization_msgs/msg/interactive_marker_feedback.hpp>
#include <interactive_markers/menu_handler.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
 
namespace robot_interaction
{
MOVEIT_CLASS_FORWARD(InteractionHandler);   // Defines InteractionHandlerPtr, ConstPtr, WeakPtr... etc
MOVEIT_CLASS_FORWARD(RobotInteraction);     // Defines RobotInteractionPtr, ConstPtr, WeakPtr... etc
MOVEIT_CLASS_FORWARD(KinematicOptionsMap);  // Defines KinematicOptionsMapPtr, ConstPtr, WeakPtr... etc
 
struct EndEffectorInteraction;
struct JointInteraction;
struct GenericInteraction;
 
typedef std::function<void(InteractionHandler*, bool)> InteractionHandlerCallbackFn;
 
class InteractionHandler : public LockedRobotState
{
public:
  // Use this constructor if you have an initial RobotState already.
  InteractionHandler(const RobotInteractionPtr& robot_interaction, const std::string& name,
                     const moveit::core::RobotState& initial_robot_state,
                     const std::shared_ptr<tf2_ros::Buffer>& tf_buffer = std::shared_ptr<tf2_ros::Buffer>());
 
  // Use this constructor to start with a default state.
  InteractionHandler(const RobotInteractionPtr& robot_interaction, const std::string& name,
                     const std::shared_ptr<tf2_ros::Buffer>& tf_buffer = std::shared_ptr<tf2_ros::Buffer>());
 
  // DEPRECATED.
  InteractionHandler(const std::string& name, const moveit::core::RobotState& initial_robot_state,
                     const std::shared_ptr<tf2_ros::Buffer>& tf_buffer = std::shared_ptr<tf2_ros::Buffer>());
  // DEPRECATED.
  InteractionHandler(const std::string& name, const moveit::core::RobotModelConstPtr& model,
                     const std::shared_ptr<tf2_ros::Buffer>& tf_buffer = std::shared_ptr<tf2_ros::Buffer>());
 
  ~InteractionHandler() override
  {
  }
 
  const std::string& getName() const
  {
    return name_;
  }
 
  using LockedRobotState::getState;
 
  using LockedRobotState::setState;
 
  void setUpdateCallback(const InteractionHandlerCallbackFn& callback);
  const InteractionHandlerCallbackFn& getUpdateCallback() const;
  void setMeshesVisible(bool visible);
  bool getMeshesVisible() const;
  void setControlsVisible(bool visible);
  bool getControlsVisible() const;
 
  void setPoseOffset(const EndEffectorInteraction& eef, const geometry_msgs::msg::Pose& m);
 
  void setPoseOffset(const JointInteraction& j, const geometry_msgs::msg::Pose& m);
 
  bool getPoseOffset(const EndEffectorInteraction& eef, geometry_msgs::msg::Pose& m);
 
  bool getPoseOffset(const JointInteraction& vj, geometry_msgs::msg::Pose& m);
 
  void clearPoseOffset(const EndEffectorInteraction& eef);
 
  void clearPoseOffset(const JointInteraction& vj);
 
  void clearPoseOffsets();
 
  void setMenuHandler(const std::shared_ptr<interactive_markers::MenuHandler>& mh);
 
  const std::shared_ptr<interactive_markers::MenuHandler>& getMenuHandler();
 
  void clearMenuHandler();
 
  bool getLastEndEffectorMarkerPose(const EndEffectorInteraction& eef, geometry_msgs::msg::PoseStamped& pose);
 
  bool getLastJointMarkerPose(const JointInteraction& vj, geometry_msgs::msg::PoseStamped& pose);
 
  void clearLastEndEffectorMarkerPose(const EndEffectorInteraction& eef);
 
  void clearLastJointMarkerPose(const JointInteraction& vj);
 
  void clearLastMarkerPoses();
 
  virtual void handleEndEffector(const EndEffectorInteraction& eef,
                                 const visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr& feedback);
 
  virtual void handleJoint(const JointInteraction& vj,
                           const visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr& feedback);
 
  virtual void handleGeneric(const GenericInteraction& g,
                             const visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr& feedback);
 
  virtual bool inError(const EndEffectorInteraction& eef) const;
 
  virtual bool inError(const JointInteraction& vj) const;
 
  virtual bool inError(const GenericInteraction& g) const;
 
  void clearError();
 
protected:
  bool transformFeedbackPose(const visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr& feedback,
                             const geometry_msgs::msg::Pose& offset, geometry_msgs::msg::PoseStamped& tpose);
 
  const std::string name_;
  const std::string planning_frame_;
  std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
 
private:
  typedef std::function<void(InteractionHandler*)> StateChangeCallbackFn;
 
  // Update RobotState using a generic interaction feedback message.
  // YOU MUST LOCK state_lock_ BEFORE CALLING THIS.
  void updateStateGeneric(moveit::core::RobotState& state, const GenericInteraction& g,
                          const visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr& feedback,
                          StateChangeCallbackFn& callback);
 
  // Update RobotState for a new pose of an eef.
  // YOU MUST LOCK state_lock_ BEFORE CALLING THIS.
  void updateStateEndEffector(moveit::core::RobotState& state, const EndEffectorInteraction& eef,
                              const geometry_msgs::msg::Pose& pose, StateChangeCallbackFn& callback);
 
  // Update RobotState for a new joint position.
  // YOU MUST LOCK state_lock_ BEFORE CALLING THIS.
  void updateStateJoint(moveit::core::RobotState& state, const JointInteraction& vj,
                        const geometry_msgs::msg::Pose& pose, StateChangeCallbackFn& callback);
 
  // Set the error state for \e name.
  // Returns true if the error state for \e name changed.
  // YOU MUST LOCK state_lock_ BEFORE CALLING THIS.
  bool setErrorState(const std::string& name, bool new_error_state);
 
  bool getErrorState(const std::string& name) const;
 
  // Contains the (user-programmable) pose offset between the end-effector
  // parent link (or a virtual joint) and the desired control frame for the
  // interactive marker. The offset is expressed in the frame of the parent
  // link or virtual joint. For example, on a PR2 an offset of +0.20 along
  // the x-axis will move the center of the 6-DOF interactive marker from
  // the wrist to the finger tips.
  // PROTECTED BY offset_map_lock_
  std::map<std::string, geometry_msgs::msg::Pose> offset_map_;
 
  // Contains the most recent poses received from interactive marker feedback,
  // with the offset removed (e.g. in theory, coinciding with the end-effector
  // parent or virtual joint). This allows a user application to query for the
  // interactive marker pose (which could be useful for robot control using
  // gradient-based methods) even when the IK solver failed to find a valid
  // robot state that satisfies the feedback pose.
  // PROTECTED BY pose_map_lock_
  std::map<std::string, geometry_msgs::msg::PoseStamped> pose_map_;
 
  std::mutex pose_map_lock_;
  std::mutex offset_map_lock_;
 
  // per group options for doing kinematics.
  // PROTECTED BY state_lock_ - The POINTER is protected by state_lock_.  The
  // CONTENTS is protected internally.
  KinematicOptionsMapPtr kinematic_options_map_;
 
  // A set of Interactions for which the pose is invalid.
  // PROTECTED BY state_lock_
  std::set<std::string> error_state_;
 
  // For adding menus (and associated callbacks) to all the
  // end-effector and virtual-joint interactive markers
  //
  // PROTECTED BY state_lock_ - The POINTER is protected by state_lock_.  The
  // CONTENTS is not.
  std::shared_ptr<interactive_markers::MenuHandler> menu_handler_;
 
  // Called when the RobotState maintained by the handler changes.
  // The caller may, for example, redraw the robot at the new state.
  // handler is the handler that changed.
  // error_state_changed is true if an end effector's error state may have
  // changed.
  //
  // PROTECTED BY state_lock_ - the function pointer is protected, but the call
  // is made without any lock held.
  std::function<void(InteractionHandler* handler, bool error_state_changed)> update_callback_;
 
  // PROTECTED BY state_lock_
  bool display_meshes_;
 
  // PROTECTED BY state_lock_
  bool display_controls_;
 
  // remove '_' characters from name
  static std::string fixName(std::string name);
};
}  // namespace robot_interaction