plan_service_capability.cpp

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/* Author: Ioan Sucan */
 
#include "plan_service_capability.h"
 
#include <moveit/moveit_cpp/moveit_cpp.h>
#include <moveit/planning_pipeline/planning_pipeline.h>
#include <moveit/move_group/capability_names.h>
#include <moveit/utils/logger.hpp>
 
namespace move_group
{
 
namespace
{
rclcpp::Logger getLogger()
{
  return moveit::getLogger("MoveGroupPlanService");
}
}  // namespace
 
MoveGroupPlanService::MoveGroupPlanService() : MoveGroupCapability("motion_plan_service")
{
}
 
void MoveGroupPlanService::initialize()
{
  plan_service_ = context_->moveit_cpp_->getNode()->create_service<moveit_msgs::srv::GetMotionPlan>(
      PLANNER_SERVICE_NAME, [this](const std::shared_ptr<rmw_request_id_t>& request_header,
                                   const std::shared_ptr<moveit_msgs::srv::GetMotionPlan::Request>& req,
                                   const std::shared_ptr<moveit_msgs::srv::GetMotionPlan::Response>& res) {
        return computePlanService(request_header, req, res);
      });
}
 
bool MoveGroupPlanService::computePlanService(const std::shared_ptr<rmw_request_id_t>& /* unused */,
                                              const std::shared_ptr<moveit_msgs::srv::GetMotionPlan::Request>& req,
                                              const std::shared_ptr<moveit_msgs::srv::GetMotionPlan::Response>& res)
{
  RCLCPP_INFO(getLogger(), "Received new planning service request...");
  // before we start planning, ensure that we have the latest robot state received...
  if (static_cast<bool>(req->motion_plan_request.start_state.is_diff))
    context_->planning_scene_monitor_->waitForCurrentRobotState(context_->moveit_cpp_->getNode()->get_clock()->now());
  context_->planning_scene_monitor_->updateFrameTransforms();
 
  // Select planning_pipeline to handle request
  const planning_pipeline::PlanningPipelinePtr planning_pipeline =
      resolvePlanningPipeline(req->motion_plan_request.pipeline_id);
  if (!planning_pipeline)
  {
    res->motion_plan_response.error_code.val = moveit_msgs::msg::MoveItErrorCodes::FAILURE;
    return true;
  }
 
  planning_scene_monitor::LockedPlanningSceneRO ps(context_->planning_scene_monitor_);
  try
  {
    planning_interface::MotionPlanResponse mp_res;
    if (!planning_pipeline->generatePlan(ps, req->motion_plan_request, mp_res, context_->debug_))
    {
      RCLCPP_ERROR(getLogger(), "Generating a plan with planning pipeline failed.");
      mp_res.error_code.val = moveit_msgs::msg::MoveItErrorCodes::FAILURE;
    }
    mp_res.getMessage(res->motion_plan_response);
  }
  catch (std::exception& ex)
  {
    RCLCPP_ERROR(getLogger(), "Planning pipeline threw an exception: %s", ex.what());
    res->motion_plan_response.error_code.val = moveit_msgs::msg::MoveItErrorCodes::FAILURE;
  }
 
  return true;
}
}  // namespace move_group
 
#include <pluginlib/class_list_macros.hpp>
 
PLUGINLIB_EXPORT_CLASS(move_group::MoveGroupPlanService, move_group::MoveGroupCapability)