robot_interaction.h

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/* Author: Ioan Sucan, Adam Leeper */
 
#pragma once
 
#include <visualization_msgs/msg/interactive_marker_feedback.hpp>
#include <visualization_msgs/msg/interactive_marker.hpp>
#include <interactive_markers/menu_handler.hpp>
#include <moveit/macros/class_forward.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/robot_interaction/interaction.h>
#include <rclcpp/logger.hpp>
#include <memory>
#include <functional>
#include <thread>
 
// This is needed for legacy code that includes robot_interaction.h but not
// interaction_handler.h
#include <moveit/robot_interaction/interaction_handler.h>
 
namespace interactive_markers
{
class InteractiveMarkerServer;
}
 
namespace robot_interaction
{
MOVEIT_CLASS_FORWARD(InteractionHandler);   // Defines InteractionHandlerPtr, ConstPtr, WeakPtr... etc
MOVEIT_CLASS_FORWARD(KinematicOptionsMap);  // Defines KinematicOptionsMapPtr, ConstPtr, WeakPtr... etc
MOVEIT_CLASS_FORWARD(RobotInteraction);     // Defines RobotInteractionPtr, ConstPtr, WeakPtr... etc
 
// Manage interactive markers for controlling a robot state.
//
// The RobotInteraction class manages one or more InteractionHandler objects
// each of which maintains a set of interactive markers for manipulating one
// group of one RobotState.
//
// The group being manipulated is common to all InteractionHandler objects
// contained in a RobotInteraction instance.
class RobotInteraction
{
public:
  static const std::string INTERACTIVE_MARKER_TOPIC;
 
  RobotInteraction(const moveit::core::RobotModelConstPtr& robot_model, const rclcpp::Node::SharedPtr& node,
                   const std::string& ns = "");
  virtual ~RobotInteraction();
 
  const std::string& getServerTopic() const
  {
    return topic_;
  }
 
  void addActiveComponent(const InteractiveMarkerConstructorFn& construct, const ProcessFeedbackFn& process,
                          const InteractiveMarkerUpdateFn& update = InteractiveMarkerUpdateFn(),
                          const std::string& name = "");
 
  void decideActiveComponents(const std::string& group);
  void decideActiveComponents(const std::string& group, InteractionStyle::InteractionStyle style);
 
  void clear();
 
  void addInteractiveMarkers(const InteractionHandlerPtr& handler, const double marker_scale = 0.0);
 
  // Update pose of all interactive markers to match the handler's RobotState.
  // Call this when the handler's RobotState changes.
  void updateInteractiveMarkers(const InteractionHandlerPtr& handler);
 
  // True if markers are being shown for this handler.
  bool showingMarkers(const InteractionHandlerPtr& handler);
 
  // Display all markers that have been added.
  // This is needed after calls to addInteractiveMarkers() to publish the
  // resulting markers so they get displayed.  This call is not needed after
  // calling updateInteractiveMarkers() which publishes the results itself.
  void publishInteractiveMarkers();
 
  // Clear all interactive markers.
  // This removes all interactive markers but does not affect which
  // interactions are active.  After this a call to publishInteractiveMarkers()
  // is needed to actually remove the markers from the display.
  void clearInteractiveMarkers();
 
  const moveit::core::RobotModelConstPtr& getRobotModel() const
  {
    return robot_model_;
  }
 
  // Get the kinematic options map.
  // Use this to set kinematic options (defaults or per-group).
  KinematicOptionsMapPtr getKinematicOptionsMap()
  {
    return kinematic_options_map_;
  }
 
  // enable/disable subscription of the topics to move interactive marker
  void toggleMoveInteractiveMarkerTopic(bool enable);
 
  const std::vector<EndEffectorInteraction>& getActiveEndEffectors() const
  {
    return active_eef_;
  }
  const std::vector<JointInteraction>& getActiveJoints() const
  {
    return active_vj_;
  }
 
private:
  // called by decideActiveComponents(); add markers for end effectors
  void decideActiveEndEffectors(const std::string& group);
  void decideActiveEndEffectors(const std::string& group, InteractionStyle::InteractionStyle style);
 
  // called by decideActiveComponents(); add markers for planar and floating joints
  void decideActiveJoints(const std::string& group);
 
  void moveInteractiveMarker(const std::string& name, const geometry_msgs::msg::PoseStamped& msg);
  // register the name of the topic and marker name to move interactive marker from other ROS nodes
  void registerMoveInteractiveMarkerTopic(const std::string& marker_name, const std::string& name);
  // return the diameter of the sphere that certainly can enclose the AABB of the link
  double computeLinkMarkerSize(const std::string& link);
  // return the diameter of the sphere that certainly can enclose the AABB of the links in this group
  double computeGroupMarkerSize(const std::string& group);
  void computeMarkerPose(const InteractionHandlerPtr& handler, const EndEffectorInteraction& eef,
                         const moveit::core::RobotState& robot_state, geometry_msgs::msg::Pose& pose,
                         geometry_msgs::msg::Pose& control_to_eef_tf) const;
 
  void addEndEffectorMarkers(const InteractionHandlerPtr& handler, const EndEffectorInteraction& eef,
                             visualization_msgs::msg::InteractiveMarker& im, bool position = true,
                             bool orientation = true);
  void addEndEffectorMarkers(const InteractionHandlerPtr& handler, const EndEffectorInteraction& eef,
                             const geometry_msgs::msg::Pose& offset, visualization_msgs::msg::InteractiveMarker& im,
                             bool position = true, bool orientation = true);
 
  void
  processInteractiveMarkerFeedback(const visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr& feedback);
  void subscribeMoveInteractiveMarker(const std::string marker_name, const std::string& name);
  void processingThread();
  void clearInteractiveMarkersUnsafe();
 
  std::unique_ptr<std::thread> processing_thread_;
  bool run_processing_thread_;
 
  std::condition_variable new_feedback_condition_;
  std::map<std::string, visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr> feedback_map_;
 
  moveit::core::RobotModelConstPtr robot_model_;
 
  std::vector<EndEffectorInteraction> active_eef_;
  std::vector<JointInteraction> active_vj_;
  std::vector<GenericInteraction> active_generic_;
 
  std::map<std::string, InteractionHandlerPtr> handlers_;
  std::map<std::string, std::size_t> shown_markers_;
 
  // This mutex is locked every time markers are read or updated;
  // This includes the active_* arrays and shown_markers_
  // Please note that this mutex *MUST NOT* be locked while operations
  // on the interactive marker server are called because the server
  // also locks internally and we could othewrise end up with a problem
  // of Thread 1: Lock A,         Lock B, Unlock B, Unloack A
  //    Thread 2:         Lock B, Lock A
  // => deadlock
  std::mutex marker_access_lock_;
 
  interactive_markers::InteractiveMarkerServer* int_marker_server_;
  // ros subscribers to move the interactive markers by other ros nodes
  std::vector<rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr> int_marker_move_subscribers_;
  // the array of the names of the topics which need to be subscribed
  // to move the interactive markers by other ROS nodes
  std::vector<std::string> int_marker_move_topics_;
  // the array of the marker names in the same order to int_marker_move_topics_
  std::vector<std::string> int_marker_names_;
 
  std::string topic_;
  rclcpp::Node::SharedPtr node_;
  rclcpp::Logger logger_;
 
  // options for doing IK
  KinematicOptionsMapPtr kinematic_options_map_;
};
}  // namespace robot_interaction