validate_workspace_bounds.cpp

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/* Author: Ioan Sucan
 * Desc: If not specified by the planning request, this request adapter will specify a default workspace for planning.
 * The default workspace is a cube whose edge length is defined with a ROS 2 parameter.
 */
 
#include <moveit/planning_interface/planning_request_adapter.h>
#include <class_loader/class_loader.hpp>
#include <rclcpp/logger.hpp>
#include <rclcpp/logging.hpp>
#include <rclcpp/node.hpp>
#include <moveit/utils/logger.hpp>
 
#include <default_request_adapter_parameters.hpp>
 
namespace default_planning_request_adapters
{
 
class ValidateWorkspaceBounds : public planning_interface::PlanningRequestAdapter
{
public:
  ValidateWorkspaceBounds() : logger_(moveit::getLogger("moveit.ros.validate_workspace_bounds"))
  {
  }
 
  void initialize(const rclcpp::Node::SharedPtr& node, const std::string& parameter_namespace) override
  {
    param_listener_ = std::make_unique<default_request_adapter_parameters::ParamListener>(node, parameter_namespace);
  }
 
  [[nodiscard]] std::string getDescription() const override
  {
    return std::string("ValidateWorkspaceBounds");
  }
 
  [[nodiscard]] moveit::core::MoveItErrorCode adapt(const planning_scene::PlanningSceneConstPtr& /*planning_scene*/,
                                                    planning_interface::MotionPlanRequest& req) const override
  {
    RCLCPP_DEBUG(logger_, "Running '%s'", getDescription().c_str());
    const moveit_msgs::msg::WorkspaceParameters& wparams = req.workspace_parameters;
    if (std::abs(wparams.min_corner.x) < std::numeric_limits<double>::epsilon() &&
        std::abs(wparams.min_corner.y) < std::numeric_limits<double>::epsilon() &&
        std::abs(wparams.min_corner.z) < std::numeric_limits<double>::epsilon() &&
        std::abs(wparams.max_corner.x) < std::numeric_limits<double>::epsilon() &&
        std::abs(wparams.max_corner.y) < std::numeric_limits<double>::epsilon() &&
        std::abs(wparams.max_corner.z) < std::numeric_limits<double>::epsilon())
    {
      RCLCPP_WARN(logger_, "It looks like the planning volume was not specified. Using default values.");
      moveit_msgs::msg::WorkspaceParameters& default_wp = req.workspace_parameters;
      const auto params = param_listener_->get_params();
 
      default_wp.min_corner.x = default_wp.min_corner.y = default_wp.min_corner.z =
          -params.default_workspace_bounds / 2.0;
      default_wp.max_corner.x = default_wp.max_corner.y = default_wp.max_corner.z =
          params.default_workspace_bounds / 2.0;
    }
    return moveit::core::MoveItErrorCode(moveit_msgs::msg::MoveItErrorCodes::SUCCESS, std::string(""), getDescription());
  }
 
private:
  std::unique_ptr<default_request_adapter_parameters::ParamListener> param_listener_;
  rclcpp::Logger logger_;
};
}  // namespace default_planning_request_adapters
 
CLASS_LOADER_REGISTER_CLASS(default_planning_request_adapters::ValidateWorkspaceBounds,
                            planning_interface::PlanningRequestAdapter)