stomp_moveit_planner_plugin.cpp

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#include <class_loader/class_loader.hpp>
#include <stomp_moveit/stomp_moveit_planning_context.hpp>
#include <moveit/utils/logger.hpp>
 
#include <rclcpp/node.hpp>
#include <rclcpp/logging.hpp>
#include <visualization_msgs/msg/marker_array.hpp>
 
namespace stomp_moveit
{
namespace
{
rclcpp::Logger getLogger()
{
  return moveit::getLogger("stomp_moveit");
}
}  // namespace
 
using namespace planning_interface;
 
class StompPlannerManager : public PlannerManager
{
public:
  StompPlannerManager() = default;
  ~StompPlannerManager() override = default;
 
  bool initialize(const moveit::core::RobotModelConstPtr& model, const rclcpp::Node::SharedPtr& node,
                  const std::string& parameter_namespace) override
  {
    robot_model_ = model;
    node_ = node;
    parameter_namespace_ = parameter_namespace;
    param_listener_ = std::make_shared<stomp_moveit::ParamListener>(node, parameter_namespace);
 
    return true;
  }
 
  std::string getDescription() const override
  {
    return "STOMP";
  }
 
  void getPlanningAlgorithms(std::vector<std::string>& algs) const override
  {
    algs = { "STOMP" };
  }
 
  PlanningContextPtr getPlanningContext(const planning_scene::PlanningSceneConstPtr& planning_scene,
                                        const MotionPlanRequest& req,
                                        moveit_msgs::msg::MoveItErrorCodes& error_code) const override
  {
    if (!canServiceRequest(req))
    {
      error_code.val = moveit_msgs::msg::MoveItErrorCodes::PLANNING_FAILED;
      return nullptr;
    }
 
    const auto params = param_listener_->get_params();
 
    std::shared_ptr<StompPlanningContext> planning_context =
        std::make_shared<StompPlanningContext>("STOMP", req.group_name, params);
    planning_context->setPlanningScene(planning_scene);
    planning_context->setMotionPlanRequest(req);
 
    // Only create path publisher if topic parameter has been set
    if (!params.path_marker_topic.empty())
    {
      auto path_publisher = node_->create_publisher<visualization_msgs::msg::MarkerArray>(params.path_marker_topic,
                                                                                          rclcpp::SystemDefaultsQoS());
      planning_context->setPathPublisher(path_publisher);
    }
 
    return planning_context;
  }
 
  bool canServiceRequest(const MotionPlanRequest& req) const override
  {
    if (req.goal_constraints.empty())
    {
      RCLCPP_ERROR(getLogger(), "Invalid goal constraints");
      return false;
    }
 
    if (req.group_name.empty() || !robot_model_->hasJointModelGroup(req.group_name))
    {
      RCLCPP_ERROR(getLogger(), "Invalid joint group '%s'", req.group_name.c_str());
      return false;
    }
    return true;
  }
 
  void setPlannerConfigurations(const PlannerConfigurationMap& /*pcs*/) override
  {
  }
 
private:
  moveit::core::RobotModelConstPtr robot_model_;
  rclcpp::Node::SharedPtr node_;
  std::string parameter_namespace_;
  std::shared_ptr<stomp_moveit::ParamListener> param_listener_;
};
 
}  // namespace stomp_moveit
 
CLASS_LOADER_REGISTER_CLASS(stomp_moveit::StompPlannerManager, planning_interface::PlannerManager)