move_group_sequence_service.cpp

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/* Author: Ioan Sucan */
 
// Modified by Pilz GmbH & Co. KG
 
#include <pilz_industrial_motion_planner/move_group_sequence_service.h>
 
#include <pilz_industrial_motion_planner/capability_names.h>
#include <pilz_industrial_motion_planner/command_list_manager.h>
#include <pilz_industrial_motion_planner/trajectory_generation_exceptions.h>
 
#include <moveit/moveit_cpp/moveit_cpp.h>
#include <moveit/utils/logger.hpp>
 
namespace pilz_industrial_motion_planner
{
namespace
{
rclcpp::Logger getLogger()
{
  return moveit::getLogger("moveit.planners.pilz.move_group_sequence_service");
}
}  // namespace
MoveGroupSequenceService::MoveGroupSequenceService() : MoveGroupCapability("SequenceService")
{
}
 
MoveGroupSequenceService::~MoveGroupSequenceService()
{
}
 
void MoveGroupSequenceService::initialize()
{
  command_list_manager_ = std::make_unique<pilz_industrial_motion_planner::CommandListManager>(
      context_->moveit_cpp_->getNode(), context_->planning_scene_monitor_->getRobotModel());
 
  sequence_service_ = context_->moveit_cpp_->getNode()->create_service<moveit_msgs::srv::GetMotionSequence>(
      SEQUENCE_SERVICE_NAME,
      [this](const moveit_msgs::srv::GetMotionSequence::Request::SharedPtr& req,
             const moveit_msgs::srv::GetMotionSequence::Response::SharedPtr& res) { return plan(req, res); });
}
 
bool MoveGroupSequenceService::plan(const moveit_msgs::srv::GetMotionSequence::Request::SharedPtr& req,
                                    const moveit_msgs::srv::GetMotionSequence::Response::SharedPtr& res)
{
  // Handle empty requests
  if (req->request.items.empty())
  {
    RCLCPP_WARN(getLogger(), "Received empty request. That's ok but maybe not what you intended.");
    res->response.error_code.val = moveit_msgs::msg::MoveItErrorCodes::SUCCESS;
    return true;
  }
 
  // TODO: Do we lock on the correct scene? Does the lock belong to the scene
  // used for planning?
  planning_scene_monitor::LockedPlanningSceneRO ps(context_->planning_scene_monitor_);
 
  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(req->request.items[0].req.pipeline_id);
    if (!planning_pipeline)
    {
      RCLCPP_ERROR_STREAM(getLogger(), "Could not load planning pipeline " << req->request.items[0].req.pipeline_id);
      res->response.error_code.val = moveit_msgs::msg::MoveItErrorCodes::FAILURE;
      return false;
    }
 
    traj_vec = command_list_manager_->solve(ps, context_->planning_pipeline_, req->request);
  }
  catch (const MoveItErrorCodeException& ex)
  {
    RCLCPP_ERROR_STREAM(getLogger(),
                        "Planner threw an exception (error code: " << ex.getErrorCode() << "): " << ex.what());
    res->response.error_code.val = ex.getErrorCode();
    return true;
  }
  // LCOV_EXCL_START // Keep moveit up even if lower parts throw
  catch (const std::exception& ex)
  {
    RCLCPP_ERROR_STREAM(getLogger(), "Planner threw an exception: " << ex.what());
    // If 'FALSE' then no response will be sent to the caller.
    return false;
  }
  // LCOV_EXCL_STOP
 
  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), res->response.sequence_start,
                                                  res->response.planned_trajectories.at(i));
  }
  res->response.error_code.val = moveit_msgs::msg::MoveItErrorCodes::SUCCESS;
  res->response.planning_time = (context_->moveit_cpp_->getNode()->now() - planning_start).seconds();
  return true;
}
 
}  // namespace pilz_industrial_motion_planner
 
#include <pluginlib/class_list_macros.hpp>
PLUGINLIB_EXPORT_CLASS(pilz_industrial_motion_planner::MoveGroupSequenceService, move_group::MoveGroupCapability)