move_group_sequence_action.cpp

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/* Author: Ioan Sucan */
 
// Modified by Pilz GmbH & Co. KG
 
#include <pilz_industrial_motion_planner/move_group_sequence_action.h>
 
#include <time.h>
 
#include <moveit/kinematic_constraints/utils.h>
#include <moveit/plan_execution/plan_execution.h>
#include <moveit/planning_pipeline/planning_pipeline.h>
#include <moveit/robot_state/conversions.h>
#include <moveit/trajectory_processing/trajectory_tools.h>
#include <moveit/utils/message_checks.h>
#include <moveit/moveit_cpp/moveit_cpp.h>
#include <moveit/utils/logger.hpp>
 
#include <pilz_industrial_motion_planner/command_list_manager.h>
#include <pilz_industrial_motion_planner/trajectory_generation_exceptions.h>
 
namespace pilz_industrial_motion_planner
{
namespace
{
rclcpp::Logger getLogger()
{
  return moveit::getLogger("moveit.planners.pilz.move_group_sequence_action");
}
}  // namespace
 
MoveGroupSequenceAction::MoveGroupSequenceAction()
  : MoveGroupCapability("SequenceAction")
  , move_feedback_(std::make_shared<moveit_msgs::action::MoveGroupSequence::Feedback>())
{
}
 
void MoveGroupSequenceAction::initialize()
{
  // start the move action server
  RCLCPP_INFO_STREAM(getLogger(), "initialize move group sequence action");
  action_callback_group_ =
      context_->moveit_cpp_->getNode()->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
  move_action_server_ = rclcpp_action::create_server<moveit_msgs::action::MoveGroupSequence>(
      context_->moveit_cpp_->getNode(), "sequence_move_group",
      [](const rclcpp_action::GoalUUID& /* unused */,
         const std::shared_ptr<const moveit_msgs::action::MoveGroupSequence::Goal>& /* unused */) {
        RCLCPP_DEBUG(getLogger(), "Received action goal");
        return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
      },
      [this](const std::shared_ptr<MoveGroupSequenceGoalHandle>& /* unused goal_handle */) {
        RCLCPP_DEBUG(getLogger(), "Canceling action goal");
        preemptMoveCallback();
        return rclcpp_action::CancelResponse::ACCEPT;
      },
      [this](const std::shared_ptr<MoveGroupSequenceGoalHandle>& goal_handle) {
        RCLCPP_DEBUG(getLogger(), "Accepting new action goal");
        executeSequenceCallback(goal_handle);
      },
      rcl_action_server_get_default_options(), action_callback_group_);
 
  command_list_manager_ = std::make_unique<pilz_industrial_motion_planner::CommandListManager>(
      context_->moveit_cpp_->getNode(), context_->planning_scene_monitor_->getRobotModel());
}
 
void MoveGroupSequenceAction::executeSequenceCallback(const std::shared_ptr<MoveGroupSequenceGoalHandle>& goal_handle)
{
  // Notify that goal is being executed
  goal_handle_ = goal_handle;
  const auto goal = goal_handle->get_goal();
 
  setMoveState(move_group::PLANNING);
 
  // Handle empty requests
  if (goal->request.items.empty())
  {
    RCLCPP_WARN(getLogger(), "Received empty request. That's ok but maybe not what you intended.");
    setMoveState(move_group::IDLE);
    const auto action_res = std::make_shared<moveit_msgs::action::MoveGroupSequence::Result>();
    action_res->response.error_code.val = moveit_msgs::msg::MoveItErrorCodes::SUCCESS;
    goal_handle->succeed(action_res);
    return;
  }
 
  // before we start planning, ensure that we have the latest robot state
  // received...
  auto node = context_->moveit_cpp_->getNode();
  context_->planning_scene_monitor_->waitForCurrentRobotState(node->get_clock()->now());
  context_->planning_scene_monitor_->updateFrameTransforms();
 
  const auto action_res = std::make_shared<moveit_msgs::action::MoveGroupSequence::Result>();
  if (goal->planning_options.plan_only || !context_->allow_trajectory_execution_)
  {
    if (!goal->planning_options.plan_only)
    {
      RCLCPP_WARN(getLogger(), "Only plan will be calculated, although plan_only == false.");  // LCOV_EXCL_LINE
    }
    executeMoveCallbackPlanOnly(goal, action_res);
  }
  else
  {
    executeSequenceCallbackPlanAndExecute(goal, action_res);
  }
 
  switch (action_res->response.error_code.val)
  {
    case moveit_msgs::msg::MoveItErrorCodes::SUCCESS:
      goal_handle->succeed(action_res);
      break;
    case moveit_msgs::msg::MoveItErrorCodes::PREEMPTED:
      goal_handle->canceled(action_res);
      break;
    default:
      goal_handle->abort(action_res);
      break;
  }
 
  setMoveState(move_group::IDLE);
  goal_handle_.reset();
}
 
void MoveGroupSequenceAction::executeSequenceCallbackPlanAndExecute(
    const moveit_msgs::action::MoveGroupSequence::Goal::ConstSharedPtr& goal,
    const moveit_msgs::action::MoveGroupSequence::Result::SharedPtr& action_res)
{
  RCLCPP_INFO(getLogger(), "Combined planning and execution request received for MoveGroupSequenceAction.");
 
  plan_execution::PlanExecution::Options opt;
  const moveit_msgs::msg::PlanningScene& planning_scene_diff =
      moveit::core::isEmpty(goal->planning_options.planning_scene_diff.robot_state) ?
          goal->planning_options.planning_scene_diff :
          clearSceneRobotState(goal->planning_options.planning_scene_diff);
 
  opt.replan = goal->planning_options.replan;
  opt.replan_attemps = goal->planning_options.replan_attempts;
  opt.replan_delay = goal->planning_options.replan_delay;
  opt.before_execution_callback_ = [this] { startMoveExecutionCallback(); };
 
  opt.plan_callback = [this, &request = goal->request](plan_execution::ExecutableMotionPlan& plan) {
    return planUsingSequenceManager(request, plan);
  };
 
  plan_execution::ExecutableMotionPlan plan;
  context_->plan_execution_->planAndExecute(plan, planning_scene_diff, opt);
 
  StartStatesMsg start_states_msg;
  convertToMsg(plan.plan_components, start_states_msg, action_res->response.planned_trajectories);
  try
  {
    action_res->response.sequence_start = start_states_msg.at(0);
  }
  catch (std::out_of_range&)
  {
    RCLCPP_WARN(getLogger(), "Can not determine start state from empty sequence.");
  }
  action_res->response.error_code = plan.error_code;
}
 
void MoveGroupSequenceAction::convertToMsg(const ExecutableTrajs& trajs, StartStatesMsg& start_states_msg,
                                           PlannedTrajMsgs& planned_trajs_msgs)
{
  start_states_msg.resize(trajs.size());
  planned_trajs_msgs.resize(trajs.size());
  for (size_t i = 0; i < trajs.size(); ++i)
  {
    moveit::core::robotStateToRobotStateMsg(trajs.at(i).trajectory->getFirstWayPoint(), start_states_msg.at(i));
    trajs.at(i).trajectory->getRobotTrajectoryMsg(planned_trajs_msgs.at(i));
  }
}
 
void MoveGroupSequenceAction::executeMoveCallbackPlanOnly(
    const moveit_msgs::action::MoveGroupSequence::Goal::ConstSharedPtr& goal,
    const moveit_msgs::action::MoveGroupSequence::Result::SharedPtr& action_res)
{
  RCLCPP_INFO(getLogger(), "Planning request received for MoveGroupSequenceAction action.");
 
  // lock the scene so that it does not modify the world representation while
  // diff() is called
  planning_scene_monitor::LockedPlanningSceneRO lscene(context_->planning_scene_monitor_);
 
  const planning_scene::PlanningSceneConstPtr& the_scene =
      (moveit::core::isEmpty(goal->planning_options.planning_scene_diff)) ?
          static_cast<const planning_scene::PlanningSceneConstPtr&>(lscene) :
          lscene->diff(goal->planning_options.planning_scene_diff);
 
  rclcpp::Time planning_start = context_->moveit_cpp_->getNode()->now();
  RobotTrajCont traj_vec;
  try
  {
    // Select planning_pipeline to handle request
    // All motions in the SequenceRequest need to use the same planning pipeline (but can use different planners)
    const planning_pipeline::PlanningPipelinePtr planning_pipeline =
        resolvePlanningPipeline(goal->request.items[0].req.pipeline_id);
    if (!planning_pipeline)
    {
      RCLCPP_ERROR_STREAM(getLogger(), "Could not load planning pipeline " << goal->request.items[0].req.pipeline_id);
      action_res->response.error_code.val = moveit_msgs::msg::MoveItErrorCodes::FAILURE;
      return;
    }
 
    traj_vec = command_list_manager_->solve(the_scene, planning_pipeline, goal->request);
  }
  catch (const MoveItErrorCodeException& ex)
  {
    RCLCPP_ERROR_STREAM(getLogger(), "> Planning pipeline threw an exception (error code: " << ex.getErrorCode()
                                                                                            << "): " << ex.what());
    action_res->response.error_code.val = ex.getErrorCode();
    return;
  }
  // LCOV_EXCL_START // Keep moveit up even if lower parts throw
  catch (const std::exception& ex)
  {
    RCLCPP_ERROR(getLogger(), "Planning pipeline threw an exception: %s", ex.what());
    action_res->response.error_code.val = moveit_msgs::msg::MoveItErrorCodes::FAILURE;
    return;
  }
  // LCOV_EXCL_STOP
 
  StartStatesMsg start_states_msg;
  start_states_msg.resize(traj_vec.size());
  action_res->response.planned_trajectories.resize(traj_vec.size());
  for (RobotTrajCont::size_type i = 0; i < traj_vec.size(); ++i)
  {
    move_group::MoveGroupCapability::convertToMsg(traj_vec.at(i), start_states_msg.at(i),
                                                  action_res->response.planned_trajectories.at(i));
  }
  try
  {
    action_res->response.sequence_start = start_states_msg.at(0);
  }
  catch (std::out_of_range&)
  {
    RCLCPP_WARN(getLogger(), "Can not determine start state from empty sequence.");
  }
 
  action_res->response.error_code.val = moveit_msgs::msg::MoveItErrorCodes::SUCCESS;
  action_res->response.planning_time = (context_->moveit_cpp_->getNode()->now() - planning_start).seconds();
}
 
bool MoveGroupSequenceAction::planUsingSequenceManager(const moveit_msgs::msg::MotionSequenceRequest& req,
                                                       plan_execution::ExecutableMotionPlan& plan)
{
  setMoveState(move_group::PLANNING);
 
  planning_scene_monitor::LockedPlanningSceneRO lscene(plan.planning_scene_monitor);
  RobotTrajCont traj_vec;
  try
  {
    // Select planning_pipeline to handle request
    // All motions in the SequenceRequest need to use the same planning pipeline (but can use different planners)
    const planning_pipeline::PlanningPipelinePtr planning_pipeline =
        resolvePlanningPipeline(req.items[0].req.pipeline_id);
    if (!planning_pipeline)
    {
      RCLCPP_ERROR_STREAM(getLogger(), "Could not load planning pipeline " << req.items[0].req.pipeline_id);
      return false;
    }
 
    traj_vec = command_list_manager_->solve(plan.planning_scene, planning_pipeline, req);
  }
  catch (const MoveItErrorCodeException& ex)
  {
    RCLCPP_ERROR_STREAM(getLogger(), "Planning pipeline threw an exception (error code: " << ex.getErrorCode()
                                                                                          << "): " << ex.what());
    plan.error_code.val = ex.getErrorCode();
    return false;
  }
  // LCOV_EXCL_START // Keep MoveIt up even if lower parts throw
  catch (const std::exception& ex)
  {
    RCLCPP_ERROR_STREAM(getLogger(), "Planning pipeline threw an exception: " << ex.what());
    plan.error_code.val = moveit_msgs::msg::MoveItErrorCodes::FAILURE;
    return false;
  }
  // LCOV_EXCL_STOP
 
  if (!traj_vec.empty())
  {
    plan.plan_components.resize(traj_vec.size());
    for (size_t i = 0; i < traj_vec.size(); ++i)
    {
      plan.plan_components.at(i).trajectory = traj_vec.at(i);
      plan.plan_components.at(i).description = "plan";
    }
  }
  plan.error_code.val = moveit_msgs::msg::MoveItErrorCodes::SUCCESS;
  return true;
}
 
void MoveGroupSequenceAction::startMoveExecutionCallback()
{
  setMoveState(move_group::MONITOR);
}
 
void MoveGroupSequenceAction::preemptMoveCallback()
{
  context_->plan_execution_->stop();
}
 
void MoveGroupSequenceAction::setMoveState(move_group::MoveGroupState state)
{
  move_state_ = state;
  move_feedback_->state = stateToStr(state);
  goal_handle_->publish_feedback(move_feedback_);
}
 
}  // namespace pilz_industrial_motion_planner
 
#include <pluginlib/class_list_macros.hpp>
PLUGINLIB_EXPORT_CLASS(pilz_industrial_motion_planner::MoveGroupSequenceAction, move_group::MoveGroupCapability)