servo.hpp

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/*      Title       : servo.hpp
 *      Project     : moveit_servo
 *      Created     : 05/17/2023
 *      Author      : Brian O'Neil, Andy Zelenak, Blake Anderson, V Mohammed Ibrahim
 *
 *      Description : The core servoing logic.
 */
 
#pragma once
 
#include <moveit_servo/collision_monitor.hpp>
#include <moveit_servo/moveit_servo_lib_parameters.hpp>
#include <moveit_servo/utils/command.hpp>
#include <moveit_servo/utils/datatypes.hpp>
#include <moveit/kinematics_base/kinematics_base.hpp>
#include <moveit/online_signal_smoothing/smoothing_base_class.hpp>
#include <moveit/planning_scene_monitor/planning_scene_monitor.hpp>
#include <pluginlib/class_loader.hpp>
#include <sensor_msgs/msg/joint_state.hpp>
#include <tf2_eigen/tf2_eigen.hpp>
#include <tf2_ros/transform_listener.h>
#include <variant>
#include <rclcpp/logger.hpp>
#include <queue>
 
namespace moveit_servo
{
 
class Servo
{
public:
  Servo(const rclcpp::Node::SharedPtr& node, std::shared_ptr<const servo::ParamListener> servo_param_listener,
        const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
 
  ~Servo();
 
  // Disable copy construction.
  Servo(const Servo&) = delete;
 
  // Disable copy assignment.
  Servo& operator=(Servo&) = delete;
 
  KinematicState getNextJointState(const moveit::core::RobotStatePtr& robot_state, const ServoInput& command);
 
  void setCommandType(const CommandType& command_type);
 
  CommandType getCommandType() const;
 
  StatusCode getStatus() const;
 
  std::string getStatusMessage() const;
 
  void setCollisionChecking(const bool check_collision);
 
  servo::Params& getParams();
 
  KinematicState getCurrentRobotState(bool block_for_current_state) const;
 
  std::pair<bool, KinematicState> smoothHalt(const KinematicState& halt_state);
 
  void doSmoothing(KinematicState& state);
 
  void resetSmoothing(const KinematicState& state);
 
private:
  std::optional<Eigen::Isometry3d> getPlanningToCommandFrameTransform(const std::string& command_frame,
                                                                      const std::string& planning_frame) const;
 
  std::optional<TwistCommand> toPlanningFrame(const TwistCommand& command, const std::string& planning_frame) const;
 
  std::optional<PoseCommand> toPlanningFrame(const PoseCommand& command, const std::string& planning_frame) const;
 
  Eigen::VectorXd jointDeltaFromCommand(const ServoInput& command, const moveit::core::RobotStatePtr& robot_state);
 
  bool validateParams(const servo::Params& servo_params);
 
  bool updateParams();
 
  void setSmoothingPlugin();
 
  KinematicState haltJoints(const std::vector<size_t>& joints_to_halt, const KinematicState& current_state,
                            const KinematicState& target_state) const;
 
  // Variables
 
  StatusCode servo_status_;
  // This needs to be threadsafe so it can be updated in realtime.
  std::atomic<CommandType> expected_command_type_;
 
  servo::Params servo_params_;
  const rclcpp::Node::SharedPtr node_;
  rclcpp::Logger logger_;
  std::shared_ptr<const servo::ParamListener> servo_param_listener_;
  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
 
  // This value will be updated by CollisionMonitor in a separate thread.
  std::atomic<double> collision_velocity_scale_ = 1.0;
  std::unique_ptr<CollisionMonitor> collision_monitor_;
 
  // Pointer to the (optional) smoothing plugin.
  pluginlib::UniquePtr<online_signal_smoothing::SmoothingBaseClass> smoother_ = nullptr;
 
  // Map between joint subgroup names and corresponding joint name - move group indices map
  std::unordered_map<std::string, JointNameToMoveGroupIndexMap> joint_name_to_index_maps_;
 
  // The current joint limit safety margins for each active joint position variable.
  std::vector<double> joint_limit_margins_;
};
 
}  // namespace moveit_servo