semantic_world.h

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/* Author: Sachin Chitta */
 
#pragma once
 
#include <rclcpp/rclcpp.hpp>
#include <moveit/macros/class_forward.h>
#include <moveit/planning_scene/planning_scene.h>
#include <object_recognition_msgs/msg/table_array.hpp>
#include <moveit_msgs/msg/collision_object.hpp>
#include <mutex>
 
namespace shapes
{
MOVEIT_CLASS_FORWARD(Shape);  // Defines ShapePtr, ConstPtr, WeakPtr... etc
}
 
namespace moveit
{
namespace semantic_world
{
MOVEIT_CLASS_FORWARD(SemanticWorld);  // Defines SemanticWorldPtr, ConstPtr, WeakPtr... etc
 
class SemanticWorld
{
public:
  typedef std::function<void()> TableCallbackFn;
 
  SemanticWorld(const rclcpp::Node::SharedPtr& node, const planning_scene::PlanningSceneConstPtr& planning_scene);
 
  object_recognition_msgs::msg::TableArray getTablesInROI(double minx, double miny, double minz, double maxx,
                                                          double maxy, double maxz) const;
 
  std::vector<std::string> getTableNamesInROI(double minx, double miny, double minz, double maxx, double maxy,
                                              double maxz) const;
 
  std::vector<geometry_msgs::msg::PoseStamped>
  generatePlacePoses(const std::string& table_name, const shapes::ShapeConstPtr& object_shape,
                     const geometry_msgs::msg::Quaternion& object_orientation, double resolution,
                     double delta_height = 0.01, unsigned int num_heights = 2) const;
 
  std::vector<geometry_msgs::msg::PoseStamped>
  generatePlacePoses(const object_recognition_msgs::msg::Table& table, const shapes::ShapeConstPtr& object_shape,
                     const geometry_msgs::msg::Quaternion& object_orientation, double resolution,
                     double delta_height = 0.01, unsigned int num_heights = 2) const;
  std::vector<geometry_msgs::msg::PoseStamped> generatePlacePoses(const object_recognition_msgs::msg::Table& table,
                                                                  double resolution, double height_above_table,
                                                                  double delta_height = 0.01,
                                                                  unsigned int num_heights = 2,
                                                                  double min_distance_from_edge = 0.10) const;
 
  void clear();
 
  bool addTablesToCollisionWorld();
 
  visualization_msgs::msg::MarkerArray
  getPlaceLocationsMarker(const std::vector<geometry_msgs::msg::PoseStamped>& poses) const;
 
  void addTableCallback(const TableCallbackFn& table_callback)
  {
    table_callback_ = table_callback;
  }
 
  std::string findObjectTable(const geometry_msgs::msg::Pose& pose, double min_distance_from_edge = 0.0,
                              double min_vertical_offset = 0.0) const;
 
  bool isInsideTableContour(const geometry_msgs::msg::Pose& pose, const object_recognition_msgs::msg::Table& table,
                            double min_distance_from_edge = 0.0, double min_vertical_offset = 0.0) const;
 
private:
  shapes::Mesh* createSolidMeshFromPlanarPolygon(const shapes::Mesh& polygon, double thickness) const;
 
  shapes::Mesh* orientPlanarPolygon(const shapes::Mesh& polygon) const;
 
  void tableCallback(const object_recognition_msgs::msg::TableArray::ConstSharedPtr& msg);
 
  void transformTableArray(object_recognition_msgs::msg::TableArray& table_array) const;
 
  planning_scene::PlanningSceneConstPtr planning_scene_;
 
  rclcpp::Node::SharedPtr node_handle_;
 
  object_recognition_msgs::msg::TableArray table_array_;
 
  std::vector<geometry_msgs::msg::PoseStamped> place_poses_;
 
  std::map<std::string, object_recognition_msgs::msg::Table> current_tables_in_collision_world_;
 
  rclcpp::Subscription<object_recognition_msgs::msg::TableArray>::SharedPtr table_subscriber_;
 
  rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr visualization_publisher_;
  rclcpp::Publisher<moveit_msgs::msg::CollisionObject>::SharedPtr collision_object_publisher_;
 
  TableCallbackFn table_callback_;
 
  rclcpp::Publisher<moveit_msgs::msg::PlanningScene>::SharedPtr planning_scene_diff_publisher_;
 
  rclcpp::Logger logger_;
};
}  // namespace semantic_world
}  // namespace moveit