41#include <kdl/rotational_interpolation_sa.hpp>
42#include <kdl/trajectory_segment.hpp>
43#include <kdl/utilities/error.h>
44#include <kdl/utilities/utility.h>
46#include <tf2_eigen_kdl/tf2_eigen_kdl.hpp>
47#include <rclcpp/logger.hpp>
48#include <rclcpp/logging.hpp>
49#include <tf2_eigen/tf2_eigen.hpp>
50#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
72 if (!(req.path_constraints.name ==
"interim" || req.path_constraints.name ==
"center"))
74 std::ostringstream os;
75 os <<
"No path constraint named \"interim\" or \"center\" found (found "
76 "unknown constraint: "
77 <<
"\"req.path_constraints.name\""
79 throw UnknownPathConstraintName(os.str());
82 if (req.path_constraints.position_constraints.size() != 1)
84 throw NoPositionConstraints(
"CIRC trajectory generator needs valid a position constraint");
87 if (req.path_constraints.position_constraints.front().constraint_region.primitive_poses.size() != 1)
89 throw NoPrimitivePose(
"CIRC trajectory generator needs valid a primitive pose");
93void TrajectoryGeneratorCIRC::extractMotionPlanInfo(
const planning_scene::PlanningSceneConstPtr& scene,
95 TrajectoryGenerator::MotionPlanInfo& info)
const
97 RCLCPP_DEBUG(
getLogger(),
"Extract necessary information from motion plan request.");
99 info.group_name = req.group_name;
103 if (!req.goal_constraints.front().joint_constraints.empty())
106 info.link_name = req.path_constraints.position_constraints.front().link_name;
109 throw UnknownLinkNameOfAuxiliaryPoint(
"Unknown link name of CIRC auxiliary point");
112 if (req.goal_constraints.front().joint_constraints.size() !=
113 robot_model_->getJointModelGroup(req.group_name)->getActiveJointModelNames().size())
115 std::ostringstream os;
116 os <<
"Number of joint constraint = " << req.goal_constraints.front().joint_constraints.size()
117 <<
" not equal to active joints of group = "
118 <<
robot_model_->getJointModelGroup(req.group_name)->getActiveJointModelNames().size();
119 throw NumberOfConstraintsMismatch(os.str());
122 for (
const auto& joint_item : req.goal_constraints.front().joint_constraints)
124 info.goal_joint_position[joint_item.joint_name] = joint_item.position;
127 computeLinkFK(scene, info.link_name, info.goal_joint_position, info.goal_pose);
132 info.link_name = req.goal_constraints.front().position_constraints.front().link_name;
133 if (req.goal_constraints.front().position_constraints.front().header.frame_id.empty() ||
134 req.goal_constraints.front().orientation_constraints.front().header.frame_id.empty())
136 RCLCPP_WARN(
getLogger(),
"Frame id is not set in position/orientation constraints of "
137 "goal. Use model frame as default");
142 frame_id = req.goal_constraints.front().position_constraints.front().header.frame_id;
147 assert(req.start_state.joint_state.name.size() == req.start_state.joint_state.position.size());
148 for (
const auto& joint_name :
robot_model_->getJointModelGroup(req.group_name)->getActiveJointModelNames())
150 auto it{ std::find(req.start_state.joint_state.name.cbegin(), req.start_state.joint_state.name.cend(), joint_name) };
151 if (it == req.start_state.joint_state.name.cend())
153 std::ostringstream os;
154 os <<
"Could not find joint \"" << joint_name <<
"\" of group \"" << req.group_name
155 <<
"\" in start state of request";
156 throw CircJointMissingInStartState(os.str());
158 size_t index = it - req.start_state.joint_state.name.cbegin();
159 info.start_joint_position[joint_name] = req.start_state.joint_state.position[index];
162 computeLinkFK(scene, info.link_name, info.start_joint_position, info.start_pose);
165 std::map<std::string, double> ik_solution;
166 if (!
computePoseIK(scene, info.group_name, info.link_name, info.goal_pose, frame_id, info.start_joint_position,
170 std::ostringstream os;
171 os <<
"Failed to compute inverse kinematics for link: " << info.link_name <<
" of goal pose";
172 throw CircInverseForGoalIncalculable(os.str());
176 info.circ_path_point.first = req.path_constraints.name;
177 if (!req.goal_constraints.front().position_constraints.empty())
179 const moveit_msgs::msg::Constraints& goal = req.goal_constraints.front();
180 info.circ_path_point.second =
182 req.path_constraints.position_constraints.front().constraint_region.primitive_poses.front().position,
183 goal.orientation_constraints.front().orientation, goal.position_constraints.front().target_point_offset)
188 Eigen::Vector3d circ_path_point;
189 tf2::fromMsg(req.path_constraints.position_constraints.front().constraint_region.primitive_poses.front().position,
191 info.circ_path_point.second = circ_path_point;
195void TrajectoryGeneratorCIRC::plan(
const planning_scene::PlanningSceneConstPtr& scene,
197 double sampling_time, trajectory_msgs::msg::JointTrajectory& joint_trajectory)
199 std::unique_ptr<KDL::Path> cart_path(setPathCIRC(plan_info));
200 std::unique_ptr<KDL::VelocityProfile> vel_profile(
207 KDL::Trajectory_Segment cart_trajectory(cart_path.get(), vel_profile.get(),
false);
209 moveit_msgs::msg::MoveItErrorCodes error_code;
213 plan_info.link_name, plan_info.start_joint_position, sampling_time, joint_trajectory,
216 throw CircTrajectoryConversionFailure(
"Failed to generate valid joint trajectory from the Cartesian path",
221std::unique_ptr<KDL::Path> TrajectoryGeneratorCIRC::setPathCIRC(
const MotionPlanInfo& info)
const
223 RCLCPP_DEBUG(
getLogger(),
"Set Cartesian path for CIRC command.");
225 KDL::Frame start_pose, goal_pose;
226 tf2::transformEigenToKDL(info.start_pose, start_pose);
227 tf2::transformEigenToKDL(info.goal_pose, goal_pose);
229 const auto& eigen_path_point = info.circ_path_point.second;
230 const KDL::Vector path_point{ eigen_path_point.x(), eigen_path_point.y(), eigen_path_point.z() };
243 if (info.circ_path_point.first ==
"center")
252 catch (KDL::Error_MotionPlanning_Circle_No_Plane& e)
254 std::ostringstream os;
255 os <<
"Failed to create path object for circle." << e.Description();
256 throw CircleNoPlane(os.str());
258 catch (KDL::Error_MotionPlanning_Circle_ToSmall& e)
260 std::ostringstream os;
261 os <<
"Failed to create path object for circle." << e.Description();
262 throw CircleToSmall(os.str());
266 std::ostringstream os;
267 os <<
"Failed to create path object for circle." << e.
Description();
268 throw CenterPointDifferentRadius(os.str());
const char * Description() const override
This class combines CartesianLimit and JointLimits into on single class.
void printCartesianLimits() const
Prints the cartesian limits set by user. Default values for limits are 0.0.
const cartesian_limits::Params & getCartesianLimits() const
Return the cartesian limits.
const JointLimitsContainer & getJointLimitContainer() const
Obtain the Joint Limits from the container.
static std::unique_ptr< KDL::Path > circleFromCenter(const KDL::Frame &start_pose, const KDL::Frame &goal_pose, const KDL::Vector ¢er_point, double eqradius)
set the path circle from start, goal and center point
static std::unique_ptr< KDL::Path > circleFromInterim(const KDL::Frame &start_pose, const KDL::Frame &goal_pose, const KDL::Vector &interim_point, double eqradius)
set circle from start, goal and interim point
TrajectoryGeneratorCIRC(const moveit::core::RobotModelConstPtr &robot_model, const pilz_industrial_motion_planner::LimitsContainer &planner_limits, const std::string &group_name)
Constructor of CIRC Trajectory Generator.
Base class of trajectory generators.
const moveit::core::RobotModelConstPtr robot_model_
const pilz_industrial_motion_planner::LimitsContainer planner_limits_
std::unique_ptr< KDL::VelocityProfile > cartesianTrapVelocityProfile(double max_velocity_scaling_factor, double max_acceleration_scaling_factor, const std::unique_ptr< KDL::Path > &path) const
build cartesian velocity profile for the path
rclcpp::Logger getLogger()
rclcpp::Logger getLogger(const std::string &name)
Creates a namespaced logger.
bool generateJointTrajectory(const planning_scene::PlanningSceneConstPtr &scene, const JointLimitsContainer &joint_limits, const KDL::Trajectory &trajectory, const std::string &group_name, const std::string &link_name, const std::map< std::string, double > &initial_joint_position, double sampling_time, trajectory_msgs::msg::JointTrajectory &joint_trajectory, moveit_msgs::msg::MoveItErrorCodes &error_code, bool check_self_collision=false)
Generate joint trajectory from a KDL Cartesian trajectory.
bool computePoseIK(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name, const std::string &link_name, const Eigen::Isometry3d &pose, const std::string &frame_id, const std::map< std::string, double > &seed, std::map< std::string, double > &solution, bool check_self_collision=true, const double timeout=0.0)
compute the inverse kinematics of a given pose, also check robot self collision
bool computeLinkFK(const planning_scene::PlanningSceneConstPtr &scene, const std::string &link_name, const std::map< std::string, double > &joint_state, Eigen::Isometry3d &pose)
compute the pose of a link at give robot state
moveit_msgs::msg::MotionPlanRequest MotionPlanRequest
Eigen::Isometry3d getConstraintPose(const geometry_msgs::msg::Point &position, const geometry_msgs::msg::Quaternion &orientation, const geometry_msgs::msg::Vector3 &offset)
Adapt goal pose, defined by position+orientation, to consider offset.