resolve_constraint_frames.cpp

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/* Author: Robert Haschke
   Desc: This adapter changes the link_name field of a constraint from an object's (sub-)frame name to the name of the
   robot link, that the object is attached to. Transforming the frame names is necessary because the frames of an
   attached object are not known to a planner.
*/
 
#include <moveit/planning_interface/planning_request_adapter.h>
#include <moveit/kinematic_constraints/utils.h>
#include <class_loader/class_loader.hpp>
#include <moveit/utils/logger.hpp>
 
namespace default_planning_request_adapters
{
class ResolveConstraintFrames : public planning_interface::PlanningRequestAdapter
{
public:
  ResolveConstraintFrames() : logger_(moveit::getLogger("moveit.ros.resolve_constraint_frames"))
  {
  }
 
  [[nodiscard]] std::string getDescription() const override
  {
    return std::string("ResolveConstraintFrames");
  }
 
  [[nodiscard]] moveit::core::MoveItErrorCode adapt(const planning_scene::PlanningSceneConstPtr& planning_scene,
                                                    planning_interface::MotionPlanRequest& req) const override
  {
    RCLCPP_DEBUG(logger_, "Running '%s'", getDescription().c_str());
    // Resolve path constraint frames
    kinematic_constraints::resolveConstraintFrames(planning_scene->getCurrentState(), req.path_constraints);
    // Resolve goal constraint frames
    for (moveit_msgs::msg::Constraints& constraint : req.goal_constraints)
    {
      kinematic_constraints::resolveConstraintFrames(planning_scene->getCurrentState(), constraint);
    }
    return moveit::core::MoveItErrorCode(moveit_msgs::msg::MoveItErrorCodes::SUCCESS, std::string(""), getDescription());
  }
 
private:
  rclcpp::Logger logger_;
};
 
}  // namespace default_planning_request_adapters
 
CLASS_LOADER_REGISTER_CLASS(default_planning_request_adapters::ResolveConstraintFrames,
                            planning_interface::PlanningRequestAdapter);