def inverse_kinematics_async(self,
callback,
errback,
frame,
base_link,
group,
joint_names,
joint_positions,
avoid_collisions=True,
constraints=None,
attempts=8,
attached_collision_meshes=None):
"""Asynchronous handler of MoveIt IK service."""
header = Header(frame_id=base_link)
pose = Pose.from_frame(frame)
pose_stamped = PoseStamped(header, pose)
joint_state = JointState(name=joint_names,
position=joint_positions,
header=header)
start_state = RobotState(joint_state,
MultiDOFJointState(header=header))
if attached_collision_meshes:
for acm in attached_collision_meshes:
aco = AttachedCollisionObject.from_attached_collision_mesh(acm)
start_state.attached_collision_objects.append(aco)
ik_request = PositionIKRequest(group_name=group,
robot_state=start_state,
constraints=constraints,
pose_stamped=pose_stamped,
avoid_collisions=avoid_collisions,
attempts=attempts)
self.GET_POSITION_IK(self, (ik_request, ), callback, errback)
def plan_cartesian_motion_async(self, callback, errback, robot, frames,
start_configuration, group, max_step,
jump_threshold, avoid_collisions,
path_constraints,
attached_collision_meshes):
"""Asynchronous handler of MoveIt cartesian motion planner service."""
base_link = robot.get_base_link_name(group)
ee_link = robot.get_end_effector_link_name(group)
joint_names = robot.get_configurable_joint_names(group)
header = Header(frame_id=base_link)
waypoints = [Pose.from_frame(frame) for frame in frames]
joint_state = JointState(header=header,
name=joint_names,
position=start_configuration.values)
start_state = RobotState(joint_state,
MultiDOFJointState(header=header))
if attached_collision_meshes:
for acm in attached_collision_meshes:
aco = AttachedCollisionObject.from_attached_collision_mesh(acm)
start_state.attached_collision_objects.append(aco)
path_constraints = self._convert_constraints_to_rosmsg(
path_constraints, header)
request = dict(header=header,
start_state=start_state,
group_name=group,
link_name=ee_link,
waypoints=waypoints,
max_step=float(max_step),
jump_threshold=float(jump_threshold),
avoid_collisions=bool(avoid_collisions),
path_constraints=path_constraints)
def convert_to_trajectory(response):
try:
trajectory = JointTrajectory()
trajectory.source_message = response
trajectory.fraction = response.fraction
trajectory.joint_names = response.solution.joint_trajectory.joint_names
joint_types = robot.get_joint_types_by_names(
trajectory.joint_names)
trajectory.points = convert_trajectory_points(
response.solution.joint_trajectory.points, joint_types)
start_state = response.start_state.joint_state
start_state_types = robot.get_joint_types_by_names(
start_state.name)
trajectory.start_configuration = Configuration(
start_state.position, start_state_types)
callback(trajectory)
except Exception as e:
errback(e)
self.GET_CARTESIAN_PATH(self, request, convert_to_trajectory, errback)
def compute_cartesian_path_async(self, callback, errback, frames,
base_link, ee_link, group, joint_names,
joint_positions, max_step,
avoid_collisions, path_constraints,
attached_collision_object):
"""
"""
header = Header(frame_id=base_link)
waypoints = [Pose.from_frame(frame) for frame in frames]
joint_state = JointState(header=header,
name=joint_names,
position=joint_positions)
start_state = RobotState(joint_state,
MultiDOFJointState(header=header))
if attached_collision_object:
start_state.attached_collision_objects = [
attached_collision_object
]
request = dict(header=header,
start_state=start_state,
group_name=group,
link_name=ee_link,
waypoints=waypoints,
max_step=float(max_step),
avoid_collisions=bool(avoid_collisions),
path_constraints=path_constraints)
self.GET_CARTESIAN_PATH(self, request, callback, errback)
def inverse_kinematics_async(self,
callback,
errback,
frame,
base_link,
group,
joint_names,
joint_positions,
avoid_collisions=True,
constraints=None,
attempts=8):
"""
"""
header = Header(frame_id=base_link)
pose = Pose.from_frame(frame)
pose_stamped = PoseStamped(header, pose)
joint_state = JointState(name=joint_names,
position=joint_positions,
header=header)
start_state = RobotState(joint_state,
MultiDOFJointState(header=header))
ik_request = PositionIKRequest(group_name=group,
robot_state=start_state,
constraints=constraints,
pose_stamped=pose_stamped,
avoid_collisions=avoid_collisions,
attempts=attempts)
self.GET_POSITION_IK(self, (ik_request, ), callback, errback)
def test_posearray():
from compas.geometry import Frame
p = [Pose.from_frame(f) for f in [Frame.worldXY()]]
m = PoseArray(header=Header(), poses=p)
assert (
repr(m) ==
"PoseArray(header=Header(seq=0, stamp=Time(secs=0, nsecs=0), frame_id='/world'), poses=[Pose(position=Point(x=0.0, y=0.0, z=0.0), orientation=Quaternion(x=0.0, y=0.0, z=0.0, w=1.0))])"
) # noqa E501
def plan_cartesian_motion_async(self, callback, errback,
frames_WCF, start_configuration=None, group=None, options=None):
"""Asynchronous handler of MoveIt cartesian motion planner service."""
joint_names = options['joint_names']
joint_types = options['joint_types']
joint_type_by_name = dict(zip(joint_names, joint_types))
header = Header(frame_id=options['base_link'])
waypoints = [Pose.from_frame(frame) for frame in frames_WCF]
joint_state = JointState(header=header,
name=start_configuration.joint_names,
position=start_configuration.joint_values)
start_state = RobotState(joint_state, MultiDOFJointState(header=header), is_diff=True)
if options.get('attached_collision_meshes'):
for acm in options['attached_collision_meshes']:
aco = AttachedCollisionObject.from_attached_collision_mesh(acm)
start_state.attached_collision_objects.append(aco)
path_constraints = convert_constraints_to_rosmsg(options.get('path_constraints'), header)
request = dict(header=header,
start_state=start_state,
group_name=group,
link_name=options['link'],
waypoints=waypoints,
max_step=float(options.get('max_step', 0.01)),
jump_threshold=float(options.get('jump_threshold', 1.57)),
avoid_collisions=bool(options.get('avoid_collisions', True)),
path_constraints=path_constraints)
def convert_to_trajectory(response):
try:
trajectory = JointTrajectory()
trajectory.source_message = response
trajectory.fraction = response.fraction
trajectory.joint_names = response.solution.joint_trajectory.joint_names
joint_types = [joint_type_by_name[name] for name in trajectory.joint_names]
trajectory.points = convert_trajectory_points(
response.solution.joint_trajectory.points, joint_types)
start_state = response.start_state.joint_state
start_state_types = [joint_type_by_name[name] for name in start_state.name]
trajectory.start_configuration = Configuration(start_state.position, start_state_types, start_state.name)
trajectory.attached_collision_meshes = list(itertools.chain(*[
aco.to_attached_collision_meshes()
for aco in response.start_state.attached_collision_objects]))
callback(trajectory)
except Exception as e:
errback(e)
self.GET_CARTESIAN_PATH(self.ros_client, request, convert_to_trajectory, errback)
def inverse_kinematics_async(self,
callback,
errback,
frame_WCF,
start_configuration=None,
group=None,
options=None):
"""Asynchronous handler of MoveIt IK service."""
base_link = options['base_link']
header = Header(frame_id=base_link)
pose_stamped = PoseStamped(header, Pose.from_frame(frame_WCF))
joint_state = JointState(name=start_configuration.joint_names,
position=start_configuration.joint_values,
header=header)
start_state = RobotState(joint_state,
MultiDOFJointState(header=header))
if options.get('attached_collision_meshes'):
for acm in options['attached_collision_meshes']:
aco = AttachedCollisionObject.from_attached_collision_mesh(acm)
start_state.attached_collision_objects.append(aco)
constraints = convert_constraints_to_rosmsg(options.get('constraints'),
header)
timeout_in_secs = options.get('timeout', 2)
timeout_duration = Duration(timeout_in_secs, 0).to_data()
ik_request = PositionIKRequest(group_name=group,
robot_state=start_state,
constraints=constraints,
pose_stamped=pose_stamped,
avoid_collisions=options.get(
'avoid_collisions', True),
attempts=options.get('attempts', 8),
timeout=timeout_duration)
# The field `attempts` was removed in Noetic (and higher)
# so it needs to be removed from the message otherwise it causes a serialization error
# https://github.com/ros-planning/moveit/pull/1288
if self.ros_client.ros_distro not in (RosDistro.KINETIC,
RosDistro.MELODIC):
del ik_request.attempts
def convert_to_positions(response):
callback((response.solution.joint_state.position,
response.solution.joint_state.name))
self.GET_POSITION_IK(self.ros_client, (ik_request, ),
convert_to_positions, errback)
def inverse_kinematics_async(self,
callback,
errback,
robot,
frame,
group,
start_configuration,
avoid_collisions=True,
constraints=None,
attempts=8,
attached_collision_meshes=None):
"""Asynchronous handler of MoveIt IK service."""
base_link = robot.model.root.name
header = Header(frame_id=base_link)
pose = Pose.from_frame(frame)
pose_stamped = PoseStamped(header, pose)
joint_state = JointState(name=start_configuration.joint_names,
position=start_configuration.values,
header=header)
start_state = RobotState(joint_state,
MultiDOFJointState(header=header))
if attached_collision_meshes:
for acm in attached_collision_meshes:
aco = AttachedCollisionObject.from_attached_collision_mesh(acm)
start_state.attached_collision_objects.append(aco)
constraints = self._convert_constraints_to_rosmsg(constraints, header)
ik_request = PositionIKRequest(group_name=group,
robot_state=start_state,
constraints=constraints,
pose_stamped=pose_stamped,
avoid_collisions=avoid_collisions,
attempts=attempts)
def convert_to_positions(response):
callback((response.solution.joint_state.position,
response.solution.joint_state.name))
self.GET_POSITION_IK(self, (ik_request, ), convert_to_positions,
errback)
def build_collision_object(self, frame_id, id_name, compas_mesh,
operation):
co = CollisionObject(header=Header(frame_id=frame_id), id=id_name)
if compas_mesh:
# ROS mesh message requires triangles
mesh_quads_to_triangles(compas_mesh)
mesh = Mesh.from_mesh(compas_mesh)
co.meshes = [mesh]
co.mesh_poses = [Pose()]
if operation == 0:
co.operation = CollisionObject.ADD
elif operation == 1:
co.operation = CollisionObject.REMOVE
elif operation == 2:
co.operation = CollisionObject.APPEND
else:
raise ValueError("Operation unknown")
return co
def inverse_kinematics_async(self,
callback,
errback,
frame_WCF,
start_configuration=None,
group=None,
options=None):
"""Asynchronous handler of MoveIt IK service."""
base_link = options['base_link']
header = Header(frame_id=base_link)
pose_stamped = PoseStamped(header, Pose.from_frame(frame_WCF))
joint_state = JointState(name=start_configuration.joint_names,
position=start_configuration.values,
header=header)
start_state = RobotState(joint_state,
MultiDOFJointState(header=header))
if options.get('attached_collision_meshes'):
for acm in options['attached_collision_meshes']:
aco = AttachedCollisionObject.from_attached_collision_mesh(acm)
start_state.attached_collision_objects.append(aco)
constraints = convert_constraints_to_rosmsg(options.get('constraints'),
header)
ik_request = PositionIKRequest(group_name=group,
robot_state=start_state,
constraints=constraints,
pose_stamped=pose_stamped,
avoid_collisions=options.get(
'avoid_collisions', True),
attempts=options.get('attempts', 8))
def convert_to_positions(response):
callback((response.solution.joint_state.position,
response.solution.joint_state.name))
self.GET_POSITION_IK(self.ros_client, (ik_request, ),
convert_to_positions, errback)
def motion_plan_goal_frame_async(self,
callback,
errback,
frame,
base_link,
ee_link,
group,
joint_names,
joint_positions,
tolerance_position,
tolerance_angle,
path_constraints=None,
trajectory_constraints=None,
planner_id='',
num_planning_attempts=8,
allowed_planning_time=2.,
max_velocity_scaling_factor=1.,
max_acceleration_scaling_factor=1.,
attached_collision_object=None):
"""
"""
# http://docs.ros.org/jade/api/moveit_core/html/utils_8cpp_source.html
# TODO: if list of frames (goals) => receive multiple solutions?
header = Header(frame_id=base_link)
joint_state = JointState(header=header,
name=joint_names,
position=joint_positions)
start_state = RobotState(joint_state,
MultiDOFJointState(header=header))
if attached_collision_object:
start_state.attached_collision_objects = [
attached_collision_object
]
pose = Pose.from_frame(frame)
pcm = PositionConstraint(header=header, link_name=ee_link)
pcm.target_point_offset.x = 0.
pcm.target_point_offset.y = 0.
pcm.target_point_offset.z = 0.
bv = SolidPrimitive(type=SolidPrimitive.SPHERE,
dimensions=[tolerance_position])
pcm.constraint_region.primitives = [bv]
pcm.constraint_region.primitive_poses = [
Pose(pose.position, Quaternion(0, 0, 0, 1))
]
ocm = OrientationConstraint(header=header, link_name=ee_link)
ocm.orientation = Quaternion.from_frame(frame)
ocm.absolute_x_axis_tolerance = tolerance_angle
ocm.absolute_y_axis_tolerance = tolerance_angle
ocm.absolute_z_axis_tolerance = tolerance_angle
# TODO: possibility to hand over more goal constraints
goal_constraints = [
Constraints(position_constraints=[pcm],
orientation_constraints=[ocm])
]
request = dict(
start_state=start_state,
goal_constraints=goal_constraints,
path_constraints=path_constraints,
trajectory_constraints=trajectory_constraints,
planner_id=planner_id,
group_name=group,
num_planning_attempts=num_planning_attempts,
allowed_planning_time=allowed_planning_time,
max_velocity_scaling_factor=max_velocity_scaling_factor,
max_acceleration_scaling_factor=max_velocity_scaling_factor)
self.GET_MOTION_PLAN(self, request, callback, errback)