move_group_interface.hpp

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/* Author: Ioan Sucan, Sachin Chitta */
 
#pragma once
 
#include <cstdint>
#include <moveit/macros/class_forward.hpp>
#include <moveit/robot_state/robot_state.hpp>
#include <moveit/utils/moveit_error_code.hpp>
#include <moveit_msgs/msg/robot_trajectory.hpp>
#include <moveit_msgs/msg/robot_state.hpp>
#include <moveit_msgs/msg/planner_interface_description.hpp>
#include <moveit_msgs/msg/constraints.hpp>
#include <moveit_msgs/msg/grasp.hpp>
#include <moveit_msgs/action/move_group.hpp>
#include <moveit_msgs/action/execute_trajectory.hpp>
#include <rclcpp/logger.hpp>
#include <rclcpp/version.h>
 
#include <moveit_msgs/msg/motion_plan_request.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
 
#include <rclcpp_action/rclcpp_action.hpp>
 
#include <memory>
#include <utility>
// 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_move_group_interface_export.h>
 
namespace moveit
{
namespace planning_interface
{
MOVEIT_CLASS_FORWARD(MoveGroupInterface);  // Defines MoveGroupInterfacePtr, ConstPtr, WeakPtr... etc

class MOVEIT_MOVE_GROUP_INTERFACE_EXPORT MoveGroupInterface
{
public:
  static const std::string ROBOT_DESCRIPTION;

  struct Options
  {
    Options(std::string group_name, std::string desc = ROBOT_DESCRIPTION, std::string move_group_namespace = "")
      : group_name(std::move(group_name))
      , robot_description(std::move(desc))
      , move_group_namespace(std::move(move_group_namespace))
    {
    }

    std::string group_name;

    std::string robot_description;

    moveit::core::RobotModelConstPtr robot_model;

    std::string move_group_namespace;
  };
 
  MOVEIT_STRUCT_FORWARD(Plan);

  struct Plan
  {
    moveit_msgs::msg::RobotState start_state;

    moveit_msgs::msg::RobotTrajectory trajectory;

    double planning_time;
  };

  MoveGroupInterface(const rclcpp::Node::SharedPtr& node, const Options& opt,
                     const std::shared_ptr<tf2_ros::Buffer>& tf_buffer = std::shared_ptr<tf2_ros::Buffer>(),
                     const rclcpp::Duration& wait_for_servers = rclcpp::Duration::from_seconds(-1));

  MoveGroupInterface(const rclcpp::Node::SharedPtr& node, const std::string& group,
                     const std::shared_ptr<tf2_ros::Buffer>& tf_buffer = std::shared_ptr<tf2_ros::Buffer>(),
                     const rclcpp::Duration& wait_for_servers = rclcpp::Duration::from_seconds(-1));
 
  ~MoveGroupInterface();

  MoveGroupInterface(const MoveGroupInterface&) = delete;
  MoveGroupInterface& operator=(const MoveGroupInterface&) = delete;
 
  MoveGroupInterface(MoveGroupInterface&& other) noexcept;
  MoveGroupInterface& operator=(MoveGroupInterface&& other) noexcept;
  const std::string& getName() const;

  const std::vector<std::string>& getNamedTargets() const;

  const std::shared_ptr<tf2_ros::Buffer>& getTF() const;

  moveit::core::RobotModelConstPtr getRobotModel() const;

  const rclcpp::Node::SharedPtr& getNode() const;

  const std::string& getPlanningFrame() const;

  const std::vector<std::string>& getJointModelGroupNames() const;

  const std::vector<std::string>& getJointNames() const;

  const std::vector<std::string>& getLinkNames() const;

  std::map<std::string, double> getNamedTargetValues(const std::string& name) const;

  const std::vector<std::string>& getActiveJoints() const;

  const std::vector<std::string>& getJoints() const;

  unsigned int getVariableCount() const;

  bool getInterfaceDescriptions(std::vector<moveit_msgs::msg::PlannerInterfaceDescription>& desc) const;

  bool getInterfaceDescription(moveit_msgs::msg::PlannerInterfaceDescription& desc) const;

  std::map<std::string, std::string> getPlannerParams(const std::string& planner_id,
                                                      const std::string& group = "") const;

  void setPlannerParams(const std::string& planner_id, const std::string& group,
                        const std::map<std::string, std::string>& params, bool bReplace = false);
 
  std::string getDefaultPlanningPipelineId() const;

  void setPlanningPipelineId(const std::string& pipeline_id);

  const std::string& getPlanningPipelineId() const;

  std::string getDefaultPlannerId(const std::string& group = "") const;

  void setPlannerId(const std::string& planner_id);

  const std::string& getPlannerId() const;

  void setPlanningTime(double seconds);

  void setNumPlanningAttempts(unsigned int num_planning_attempts);

  void setMaxVelocityScalingFactor(double max_velocity_scaling_factor);

  double getMaxVelocityScalingFactor() const;

  void setMaxAccelerationScalingFactor(double max_acceleration_scaling_factor);

  double getMaxAccelerationScalingFactor() const;

  double getPlanningTime() const;

  double getGoalJointTolerance() const;

  double getGoalPositionTolerance() const;

  double getGoalOrientationTolerance() const;

  void setGoalTolerance(double tolerance);

  void setGoalJointTolerance(double tolerance);

  void setGoalPositionTolerance(double tolerance);

  void setGoalOrientationTolerance(double tolerance);

  void setWorkspace(double minx, double miny, double minz, double maxx, double maxy, double maxz);

  void setStartState(const moveit_msgs::msg::RobotState& start_state);

  void setStartState(const moveit::core::RobotState& start_state);

  void setStartStateToCurrentState();


  bool setJointValueTarget(const std::vector<double>& group_variable_values);

  bool setJointValueTarget(const std::map<std::string, double>& variable_values);

  bool setJointValueTarget(const std::vector<std::string>& variable_names, const std::vector<double>& variable_values);

  bool setJointValueTarget(const moveit::core::RobotState& robot_state);

  bool setJointValueTarget(const std::string& joint_name, const std::vector<double>& values);

  bool setJointValueTarget(const std::string& joint_name, double value);

  bool setJointValueTarget(const sensor_msgs::msg::JointState& state);

  bool setJointValueTarget(const geometry_msgs::msg::Pose& eef_pose, const std::string& end_effector_link = "");

  bool setJointValueTarget(const geometry_msgs::msg::PoseStamped& eef_pose, const std::string& end_effector_link = "");

  bool setJointValueTarget(const Eigen::Isometry3d& eef_pose, const std::string& end_effector_link = "");

  bool setApproximateJointValueTarget(const geometry_msgs::msg::Pose& eef_pose,
                                      const std::string& end_effector_link = "");

  bool setApproximateJointValueTarget(const geometry_msgs::msg::PoseStamped& eef_pose,
                                      const std::string& end_effector_link = "");

  bool setApproximateJointValueTarget(const Eigen::Isometry3d& eef_pose, const std::string& end_effector_link = "");

  void setRandomTarget();

  bool setNamedTarget(const std::string& name);

  void getJointValueTarget(std::vector<double>& group_variable_values) const;



  bool setPositionTarget(double x, double y, double z, const std::string& end_effector_link = "");

  bool setRPYTarget(double roll, double pitch, double yaw, const std::string& end_effector_link = "");

  bool setOrientationTarget(double x, double y, double z, double w, const std::string& end_effector_link = "");

  bool setPoseTarget(const Eigen::Isometry3d& end_effector_pose, const std::string& end_effector_link = "");

  bool setPoseTarget(const geometry_msgs::msg::Pose& target, const std::string& end_effector_link = "");

  bool setPoseTarget(const geometry_msgs::msg::PoseStamped& target, const std::string& end_effector_link = "");

  bool setPoseTargets(const EigenSTL::vector_Isometry3d& end_effector_pose, const std::string& end_effector_link = "");

  bool setPoseTargets(const std::vector<geometry_msgs::msg::Pose>& target, const std::string& end_effector_link = "");

  bool setPoseTargets(const std::vector<geometry_msgs::msg::PoseStamped>& target,
                      const std::string& end_effector_link = "");

  void setPoseReferenceFrame(const std::string& pose_reference_frame);

  bool setEndEffectorLink(const std::string& end_effector_link);

  bool setEndEffector(const std::string& eef_name);

  void clearPoseTarget(const std::string& end_effector_link = "");

  void clearPoseTargets();

  const geometry_msgs::msg::PoseStamped& getPoseTarget(const std::string& end_effector_link = "") const;

  const std::vector<geometry_msgs::msg::PoseStamped>& getPoseTargets(const std::string& end_effector_link = "") const;

  const std::string& getEndEffectorLink() const;

  const std::string& getEndEffector() const;

  const std::string& getPoseReferenceFrame() const;



  moveit::core::MoveItErrorCode asyncMove();

 
  rclcpp_action::Client<moveit_msgs::action::MoveGroup>& getMoveGroupClient() const;

  moveit::core::MoveItErrorCode move();

  moveit::core::MoveItErrorCode plan(Plan& plan);

  moveit::core::MoveItErrorCode asyncExecute(const Plan& plan,
                                             const std::vector<std::string>& controllers = std::vector<std::string>());

  moveit::core::MoveItErrorCode asyncExecute(const moveit_msgs::msg::RobotTrajectory& trajectory,
                                             const std::vector<std::string>& controllers = std::vector<std::string>());

  moveit::core::MoveItErrorCode execute(const Plan& plan,
                                        const std::vector<std::string>& controllers = std::vector<std::string>());

  moveit::core::MoveItErrorCode execute(const moveit_msgs::msg::RobotTrajectory& trajectory,
                                        const std::vector<std::string>& controllers = std::vector<std::string>());

  [[deprecated("Drop jump_threshold")]] double  //
  computeCartesianPath(const std::vector<geometry_msgs::msg::Pose>& waypoints, double eef_step,
                       double /*jump_threshold*/, moveit_msgs::msg::RobotTrajectory& trajectory,
                       bool avoid_collisions = true, moveit_msgs::msg::MoveItErrorCodes* error_code = nullptr)
  {
    return computeCartesianPath(waypoints, eef_step, trajectory, avoid_collisions, error_code);
  }
  double computeCartesianPath(const std::vector<geometry_msgs::msg::Pose>& waypoints, double eef_step,
                              moveit_msgs::msg::RobotTrajectory& trajectory, bool avoid_collisions = true,
                              moveit_msgs::msg::MoveItErrorCodes* error_code = nullptr);

  [[deprecated("Drop jump_threshold")]] double  //
  computeCartesianPath(const std::vector<geometry_msgs::msg::Pose>& waypoints, double eef_step,
                       double /*jump_threshold*/, moveit_msgs::msg::RobotTrajectory& trajectory,
                       const moveit_msgs::msg::Constraints& path_constraints, bool avoid_collisions = true,
                       moveit_msgs::msg::MoveItErrorCodes* error_code = nullptr)
  {
    return computeCartesianPath(waypoints, eef_step, trajectory, path_constraints, avoid_collisions, error_code);
  }
  double computeCartesianPath(const std::vector<geometry_msgs::msg::Pose>& waypoints, double eef_step,
                              moveit_msgs::msg::RobotTrajectory& trajectory,
                              const moveit_msgs::msg::Constraints& path_constraints, bool avoid_collisions = true,
                              moveit_msgs::msg::MoveItErrorCodes* error_code = nullptr);

  void stop();

  void allowReplanning(bool flag);

  void setReplanAttempts(int32_t attempts);

  void setReplanDelay(double delay);

  void allowLooking(bool flag);

  void setLookAroundAttempts(int32_t attempts);

  void constructRobotState(moveit_msgs::msg::RobotState& state);

  void constructMotionPlanRequest(moveit_msgs::msg::MotionPlanRequest& request);



  bool attachObject(const std::string& object, const std::string& link = "");

  bool attachObject(const std::string& object, const std::string& link, const std::vector<std::string>& touch_links);

  bool detachObject(const std::string& name = "");



  bool startStateMonitor(double wait = 1.0);

  std::vector<double> getCurrentJointValues() const;

  moveit::core::RobotStatePtr getCurrentState(double wait = 1) const;

  geometry_msgs::msg::PoseStamped getCurrentPose(const std::string& end_effector_link = "") const;

  std::vector<double> getCurrentRPY(const std::string& end_effector_link = "") const;

  std::vector<double> getRandomJointValues() const;

  geometry_msgs::msg::PoseStamped getRandomPose(const std::string& end_effector_link = "") const;



  void rememberJointValues(const std::string& name);

  void rememberJointValues(const std::string& name, const std::vector<double>& values);

  const std::map<std::string, std::vector<double> >& getRememberedJointValues() const
  {
    return remembered_joint_values_;
  }

  void forgetJointValues(const std::string& name);



  void setConstraintsDatabase(const std::string& host, unsigned int port);

  std::vector<std::string> getKnownConstraints() const;

  moveit_msgs::msg::Constraints getPathConstraints() const;

  bool setPathConstraints(const std::string& constraint);

  void setPathConstraints(const moveit_msgs::msg::Constraints& constraint);

  void clearPathConstraints();
 
  moveit_msgs::msg::TrajectoryConstraints getTrajectoryConstraints() const;
  void setTrajectoryConstraints(const moveit_msgs::msg::TrajectoryConstraints& constraint);
  void clearTrajectoryConstraints();

 
protected:
  const moveit::core::RobotState& getTargetRobotState() const;
 
private:
  std::map<std::string, std::vector<double> > remembered_joint_values_;
  class MoveGroupInterfaceImpl;
  MoveGroupInterfaceImpl* impl_;
  rclcpp::Logger logger_;
};
}  // namespace planning_interface
}  // namespace moveit