publish_scene_from_text.cpp

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 *
 *  Copyright (c) 2013, Ioan A. Sucan
 *  All rights reserved.
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/* Author: Ioan Sucan */
 
#include <chrono>
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <rclcpp/executors/multi_threaded_executor.hpp>
#include <rclcpp/logger.hpp>
#include <rclcpp/logging.hpp>
#include <rclcpp/node.hpp>
#include <rclcpp/publisher.hpp>
#include <rclcpp/version.h>
#include <moveit/utils/logger.hpp>
#if RCLCPP_VERSION_GTE(20, 0, 0)
#include <rclcpp/event_handler.hpp>
#else
#include <rclcpp/qos_event.hpp>
#endif
#include <rclcpp/utilities.hpp>
 
using namespace std::chrono_literals;
 
int main(int argc, char** argv)
{
  rclcpp::init(argc, argv);
  auto node = rclcpp::Node::make_shared("publish_planning_scene");
  moveit::setNodeLoggerName(node->get_name());
 
  // decide whether to publish the full scene
  bool full_scene = false;
 
  // the index of the argument with the filename
  int filename_index = 1;
  if (argc > 2)
  {
    if (strncmp(argv[1], "--scene", 7) == 0)
    {
      full_scene = true;
      filename_index = 2;
    }
  }
 
  if (argc > 1)
  {
    rclcpp::executors::MultiThreadedExecutor executor;
    executor.add_node(node);
 
    rclcpp::Publisher<moveit_msgs::msg::PlanningScene>::SharedPtr pub_scene;
    rclcpp::Publisher<moveit_msgs::msg::PlanningSceneWorld>::SharedPtr pub_world_scene;
 
    if (full_scene)
    {
      pub_scene = node->create_publisher<moveit_msgs::msg::PlanningScene>(
          planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_TOPIC, 1);
    }
    else
    {
      pub_world_scene = node->create_publisher<moveit_msgs::msg::PlanningSceneWorld>(
          planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_WORLD_TOPIC, 1);
    }
 
    robot_model_loader::RobotModelLoader::Options opt;
    opt.robot_description = "robot_description";
    opt.load_kinematics_solvers = false;
 
    auto rml = std::make_shared<robot_model_loader::RobotModelLoader>(node, opt);
    planning_scene::PlanningScene ps(rml->getModel());
 
    std::ifstream f(argv[filename_index]);
    if (ps.loadGeometryFromStream(f))
    {
      RCLCPP_INFO(node->get_logger(), "Publishing geometry from '%s' ...", argv[filename_index]);
      moveit_msgs::msg::PlanningScene ps_msg;
      ps.getPlanningSceneMsg(ps_msg);
      ps_msg.is_diff = true;
 
      unsigned int attempts = 0;
      while (pub_scene->get_subscription_count() < 1 && ++attempts < 100)
        rclcpp::sleep_for(500ms);
 
      if (full_scene)
      {
        pub_scene->publish(ps_msg);
      }
      else
      {
        pub_world_scene->publish(ps_msg.world);
      }
 
      rclcpp::sleep_for(1s);
    }
  }
  else
  {
    RCLCPP_WARN(node->get_logger(),
                "A filename was expected as argument. That file should be a text representation of the geometry in a "
                "planning scene.");
  }
 
  rclcpp::shutdown();
  return 0;
}