def filter_trajectory(self, trajectory, motion_plan_request=None):
'''
Filters a joint trajectory and assigns times using the joint trajectory filter service.
**Args:**
**trajectory (trajectory_msgs.msg.JointTrajectory):** The trajectory to be filtered. All times must be 0.
*motion_plan_request (arm_navigation_msgs.msg.MotionPlanRequest):* If passed in the trajectory
filter will respect the starting state, goal constriants, and path constraints. It will also append the
starting state from the motion plan request to the front of the trajectory.
**Returns:**
A trajectory_msgs.msg.JointTrajectory that has been filtered and had times assigned.
**Raises:**
**exceptions.ArmNavError:** if the trajectory cannot be filtered. This is almost always because the
trajectory did not actually reach the goal state or had a collision. Note that OMPL returns bad plans
with reasonable frequency so if trajectory filtering fails, you want to re-plan.
'''
if len(trajectory.points) < SHORTEST_FILTERABLE_TRAJECTORY:
rospy.logwarn('Not filtering trajectory of length %d. Too small.',
len(trajectory.points))
trajectory = tt.convert_path_to_trajectory(trajectory)
if motion_plan_request:
trajectory = tt.add_state_to_front_of_joint_trajectory\
(self.arm_joint_state(robot_state=motion_plan_request.start_state), trajectory)
return trajectory
req = FilterJointTrajectoryWithConstraintsRequest()
req.trajectory = trajectory
#these have to be in the world frame... go figure
if motion_plan_request:
req.path_constraints =\
self._psi.transform_constraints(self._psi.world_frame, motion_plan_request.path_constraints)
req.goal_constraints =\
self._psi.transform_constraints(self._psi.world_frame, motion_plan_request.goal_constraints)
req.start_state = motion_plan_request.start_state
req.group_name = motion_plan_request.group_name
else:
req.start_state = self._psi.get_robot_state()
req.group_name = self.arm_name
req.allowed_time = rospy.Duration(1.5)
ec = ArmNavigationErrorCodes()
try:
traj_resp = self._filter_trajectory_with_constraints_service(req)
ec = traj_resp.error_code
except rospy.ServiceException:
#this almost certainly means the trajectory doesn't reach the goal
ec.val = ec.GOAL_CONSTRAINTS_VIOLATED
if ec.val != ec.SUCCESS:
raise ArmNavError('Trajectory filter failed probably because OMPL returned a bad plan.',
error_code=ec, trajectory=trajectory)
traj = traj_resp.trajectory
if motion_plan_request:
traj = tt.add_state_to_front_of_joint_trajectory\
(self.arm_joint_state(robot_state=motion_plan_request.start_state), traj)
return traj
def filter_trajectory(self, trajectory, motion_plan_request=None):
'''
Filters a joint trajectory and assigns times using the joint trajectory filter service.
**Args:**
**trajectory (trajectory_msgs.msg.JointTrajectory):** The trajectory to be filtered. All times must be 0.
*motion_plan_request (arm_navigation_msgs.msg.MotionPlanRequest):* If passed in the trajectory
filter will respect the starting state, goal constriants, and path constraints. It will also append the
starting state from the motion plan request to the front of the trajectory.
**Returns:**
A trajectory_msgs.msg.JointTrajectory that has been filtered and had times assigned.
**Raises:**
**exceptions.ArmNavError:** if the trajectory cannot be filtered. This is almost always because the
trajectory did not actually reach the goal state or had a collision. Note that OMPL returns bad plans
with reasonable frequency so if trajectory filtering fails, you want to re-plan.
'''
if len(trajectory.points) < SHORTEST_FILTERABLE_TRAJECTORY:
rospy.logwarn('Not filtering trajectory of length %d. Too small.',
len(trajectory.points))
trajectory = tt.convert_path_to_trajectory(trajectory)
if motion_plan_request:
trajectory = tt.add_state_to_front_of_joint_trajectory\
(self.arm_joint_state(robot_state=motion_plan_request.start_state), trajectory)
return trajectory
req = FilterJointTrajectoryWithConstraintsRequest()
req.trajectory = trajectory
#these have to be in the world frame... go figure
if motion_plan_request:
req.path_constraints =\
self._psi.transform_constraints(self._psi.world_frame, motion_plan_request.path_constraints)
req.goal_constraints =\
self._psi.transform_constraints(self._psi.world_frame, motion_plan_request.goal_constraints)
req.start_state = motion_plan_request.start_state
req.group_name = motion_plan_request.group_name
req.allowed_time = rospy.Duration(1.5)
ec = ArmNavigationErrorCodes()
try:
traj_resp = self._filter_trajectory_with_constraints_service(req)
ec = traj_resp.error_code
except rospy.ServiceException:
#this almost certainly means the trajectory doesn't reach the goal
ec.val = ec.GOAL_CONSTRAINTS_VIOLATED
if ec.val != ec.SUCCESS:
raise ArmNavError(
'Trajectory filter failed probably because OMPL returned a bad plan.',
error_code=ec,
trajectory=trajectory)
traj = traj_resp.trajectory
if motion_plan_request:
traj = tt.add_state_to_front_of_joint_trajectory\
(self.arm_joint_state(robot_state=motion_plan_request.start_state), traj)
return traj
def interpolated_ik_motion_planner_callback(self, req):
#names and angles for the joints in their desired order
joint_names = req.motion_plan_request.start_state.joint_state.name
start_angles = req.motion_plan_request.start_state.joint_state.position
#sanity-checking: joint_names and start_angles should be the same length, if any start_angles are specified
if start_angles and len(joint_names) != len(start_angles):
rospy.logerr(
"start_state.joint_state.name needs to be the same length as start_state.joint_state.position! Quitting"
)
return 0
#reorder the start angles to the order needed by IK
reordered_start_angles = []
#get the current joint states for the robot
#joint_states_msg = rospy.wait_for_message('joint_states', JointState, 10.0)
#if not joint_states_msg:
# rospy.logerr("unable to get joint_states message")
# return 0
#get the desired start angles for each IK arm joint in turn from start_state.joint_state.position
#(use the current angle if not specified)
for joint_name in self.ik_utils.joint_names:
#desired start angle specified
if joint_name in joint_names and start_angles:
index = joint_names.index(joint_name)
reordered_start_angles.append(start_angles[index])
else:
rospy.logerr("missing joint angle, can't deal")
return 0
#get additional desired joint angles (such as for the gripper) to pass through to IK
additional_joint_angles = []
additional_joint_names = []
for (ind, joint_name) in enumerate(joint_names):
if joint_name not in self.ik_utils.joint_names:
#rospy.loginfo("found %s"%joint_name)
additional_joint_angles.append(start_angles[ind])
additional_joint_names.append(joint_name)
IK_robot_state = None
if additional_joint_angles:
#rospy.loginfo("adding additional start angles for:"+str(additional_joint_names))
#rospy.loginfo("additional joint angles:"+str(additional_joint_angles))
IK_robot_state = RobotState()
IK_robot_state.joint_state.name = additional_joint_names
IK_robot_state.joint_state.position = additional_joint_angles
start_pose_stamped = self.ik_utils.run_fk(reordered_start_angles,
self.ik_utils.link_name)
#the desired goal position
goal_pos = req.motion_plan_request.goal_constraints.position_constraints[
0].position
#the frame that goal position is in
goal_pos_frame = req.motion_plan_request.goal_constraints.position_constraints[
0].header.frame_id
#convert the position to base_link frame
goal_ps = self.add_header(PointStamped(), goal_pos_frame)
goal_ps.point = goal_pos
goal_pos_list = self.ik_utils.point_stamped_to_list(
goal_ps, 'base_link')
#the desired goal orientation
goal_quat = req.motion_plan_request.goal_constraints.orientation_constraints[
0].orientation
#the frame that goal orientation is in
goal_quat_frame = req.motion_plan_request.goal_constraints.orientation_constraints[
0].header.frame_id
#convert the quaternion to base_link frame
goal_qs = self.add_header(QuaternionStamped(), goal_quat_frame)
goal_qs.quaternion = goal_quat
goal_quat_list = self.ik_utils.quaternion_stamped_to_list(
goal_qs, 'base_link')
#assemble the goal pose into a PoseStamped
goal_pose_stamped = self.add_header(PoseStamped(), 'base_link')
goal_pose_stamped.pose = Pose(Point(*goal_pos_list),
Quaternion(*goal_quat_list))
#get the ordered collision operations, if there are any
ordered_collision_operations = None #req.motion_plan_request.ordered_collision_operations
#if ordered_collision_operations.collision_operations == []:
# ordered_collision_operations = None
#get the link paddings, if there are any
link_padding = None #req.motion_plan_request.link_padding
#if link_padding == []:
# link_padding = None
#RUN! Check the Cartesian path for consistent, non-colliding IK solutions
(trajectory, error_codes) = self.ik_utils.check_cartesian_path(start_pose_stamped, \
goal_pose_stamped, reordered_start_angles, self.pos_spacing, self.rot_spacing, \
self.consistent_angle, self.collision_aware, self.collision_check_resolution, \
self.steps_before_abort, self.num_steps, ordered_collision_operations, \
self.start_from_end, IK_robot_state, link_padding)
#find appropriate velocities and times for the valid part of the resulting joint path (invalid parts set to 0)
#if we're searching from the end, keep the end; if we're searching from the start, keep the start
start_ind = 0
stop_ind = len(error_codes)
if self.start_from_end:
for ind in range(len(error_codes) - 1, 0, -1):
if error_codes[ind]:
start_ind = ind + 1
break
else:
for ind in range(len(error_codes)):
if error_codes[ind]:
stop_ind = ind
break
(times, vels) = self.ik_utils.trajectory_times_and_vels(
trajectory[start_ind:stop_ind], self.max_joint_vels,
self.max_joint_accs)
times = [0] * start_ind + times + [0] * (len(error_codes) - stop_ind)
vels = [[0] * 7] * start_ind + vels + [[0] * 7] * (len(error_codes) -
stop_ind)
rospy.logdebug("trajectory:")
for ind in range(len(trajectory)):
rospy.logdebug("error code " + str(error_codes[ind]) + " pos : " +
self.pplist(trajectory[ind]))
rospy.logdebug("")
for ind in range(len(trajectory)):
rospy.logdebug("time: " + "%5.3f " % times[ind] + "vels: " +
self.pplist(vels[ind]))
#the response
res = GetMotionPlanResponse()
#the arm joint names in the normal order, as spit out by IKQuery
res.trajectory.joint_trajectory.joint_names = self.ik_utils.joint_names[:]
#a list of 7-lists of joint angles, velocities, and times for a trajectory that gets you from start to goal
#(all 0s if there was no IK solution for a point on the path)
res.trajectory.joint_trajectory.points = []
for i in range(len(trajectory)):
joint_trajectory_point = JointTrajectoryPoint()
joint_trajectory_point.positions = trajectory[i]
joint_trajectory_point.velocities = vels[i]
joint_trajectory_point.time_from_start = rospy.Duration(times[i])
res.trajectory.joint_trajectory.points.append(
joint_trajectory_point)
#a list of ArmNavigationErrorCodes messages, one for each trajectory point, with values as follows:
#ArmNavigationErrorCodes.SUCCESS (1): no problem
#ArmNavigationErrorCodes.COLLISION_CONSTRAINTS_VIOLATED (-23): no non-colliding IK solution (colliding solution provided)
#ArmNavigationErrorCodes.PATH_CONSTRAINTS_VIOLATED (-20): inconsistency in path between this point and the next point
#ArmNavigationErrorCodes.JOINT_LIMITS_VIOLATED (-21): out of reach (no colliding solution)
#ArmNavigationErrorCodes.PLANNING_FAILED (0): aborted before getting to this point
error_code_dict = {0:ArmNavigationErrorCodes.SUCCESS, 1:ArmNavigationErrorCodes.COLLISION_CONSTRAINTS_VIOLATED, \
2:ArmNavigationErrorCodes.PATH_CONSTRAINTS_VIOLATED, 3:ArmNavigationErrorCodes.JOINT_LIMITS_VIOLATED, \
4:ArmNavigationErrorCodes.PLANNING_FAILED}
trajectory_error_codes = [
ArmNavigationErrorCodes(val=error_code_dict[error_code])
for error_code in error_codes
]
res.trajectory_error_codes = trajectory_error_codes
res.error_code.val = ArmNavigationErrorCodes.SUCCESS if max(
error_codes) == 0 else ArmNavigationErrorCodes.PLANNING_FAILED
# rospy.loginfo("trajectory:")
# for ind in range(len(trajectory)):
# rospy.loginfo("error code "+ str(error_codes[ind]) + " pos : " + self.pplist(trajectory[ind]))
# rospy.loginfo("")
# for ind in range(len(trajectory)):
# rospy.loginfo("time: " + "%5.3f "%times[ind] + "vels: " + self.pplist(vels[ind]))
return res
def plan_interpolated_ik(self,
pose_stamped,
starting_pose=None,
ordered_collisions=None,
bounds=None,
starting_state=None,
min_acceptable_distance=None,
collision_aware=True,
reverse=False,
resolution=0.005,
nsteps=0,
consistent_angle=np.pi / 6.0,
steps_before_abort=0,
collision_check_resolution=2,
max_joint_vels=None,
max_joint_accs=None):
'''
Plans a path that follows a straight line in Cartesian space.
This function is useful for tasks like grasping where it is necessary to ensure that the gripper moves in a
straight line relative to the world. The trajectory returned from this function is safe to execute.
This function may alter the planning scene during planning, but returns it to its initial state when
finished.
There are a lot of possible arguments to this function but in general the defaults work well.
**Args:**
**pose_stamped (geomety_msgs.msg.PoseStamped):** The ending pose for the hand frame defined in hand (see
hand_description.py)
*starting_pose (geometry_msgs.msg.PoseStamped):* The starting pose of the hand frame. If None, this will
use the current pose of the hand frame in the starting state
*ordered_collisions (arm_navigation_msgs.msg.OrderedCollisionOperations):* Any additional collision
operations besides those in the planning scene interface you want to use during planning.
*bounds ([double]):* Acceptable errors for the goal position as (x, y, z, roll, pitch, yaw). If nothing
is passed in, uses the defaults defined in conversions.py
*starting_state (arm_navigation_msgs.msg.RobotState):* The state of the robot at the start of the plan if
reverse is False and at the end of the plan if reverse is True. If you pass in a starting_pose that
does not match the starting state, the planner will use the starting_pose not the stating_state. If you
pass in a starting state and no starting pose, the planner will use the hand frame pose in the starting
state. If you pass in no starting state, but you do pass in a starting_pose, the planner will solve for
a collision free IK solution for the starting state. If you pass in no starting state or starting pose,
the planner will use the current robot state in the planning scene interface. If reverse is False, the
starting state will be appended to the front of the trajectory.
*min_acceptable_distance (double):* If the planner finds a path of at least this distance (in meters),
it is a success. This must be greater than zero; to disable, set to None.
*collision_aware (boolean):* Set to False if you want no collision checking to be done
*reverse (boolean):* Set to True if you want the planner to start planning at pose_stamped and try to
plan towards starting_pose. The trajectory returned will still end at pose_stamped.
*resolution (double):* The resolution in centimeters between points on the trajectory in Carteisan space.
Will only be used if nsteps=0.
*nsteps (int):* The number of steps you want on the trajectory. If nsteps is set, resolution will be
ignored.
*consistent_angle (double):* If any joint angle between two points on this trajectory changes by more
than this amount, the planning will fail.
*steps_before_abort (int):* The number of invalid steps (no IK solution etc) allowed before the planning
fails.
*collision_check_resolution (int):* Collisions will be checked every collision_check_resolution steps
*max_joint_vels ([double]):* Maximum allowed joint velocities. If not passed in, will be set to 0.1 for
all joints.
*max_joint_accs ([double]):* Maximum allowed joint accelerations. If not passed in, only velocity
constraints will be used.
**Returns:**
A trajectory_msgs.msg.JointTrajectory that is safe to execute in which the hand frame moves in a straight
line in Cartesian space.
**Raises:**
**exceptions.ArmNavError:** if no plan can be found.
**rospy.ServiceException:** if there is a problem with the call to the planning or parameter service
'''
#prior_state = self._psi.get_robot_state()
self._psi.add_ordered_collisions(ordered_collisions)
#if starting_state:
#starting_state = self.get_closest_state_in_limits(robot_state=starting_state)
#self._psi.set_robot_state(starting_state)
if not starting_pose:
starting_pose = self.get_hand_frame_pose(
robot_state=starting_state,
frame_id=pose_stamped.header.frame_id)
else:
starting_pose = self._psi.transform_pose_stamped(
pose_stamped.header.frame_id, starting_pose)
if starting_state:
#check that it matches
if not reverse:
chk_pose = starting_pose
else:
chk_pose = pose_stamped
starting_fk = self.get_hand_frame_pose(
robot_state=starting_state, frame_id=chk_pose.header.frame_id)
if not gt.near(starting_fk.pose, chk_pose.pose):
rospy.logwarn(
'Input starting state does not match starting pose. ' +
'Solving for an IK solution instead')
rospy.logdebug('Starting FK is\n' + str(starting_fk) +
'\nCheck pose is\n' + str(chk_pose))
rospy.logdebug(
'Euclidean distance is: ' + str(
gt.euclidean_distance(starting_fk.pose.position,
chk_pose.pose.position)) +
', angular distance is: ' + str(
gt.quaternion_distance(starting_fk.pose.orientation,
chk_pose.pose.orientation)))
starting_state = None
if not starting_state:
if reverse:
ik_sol = self.get_ik(pose_stamped,
collision_aware=collision_aware)
else:
ik_sol = self.get_ik(starting_pose,
collision_aware=collision_aware)
if ik_sol.error_code.val != ik_sol.error_code.SUCCESS:
rospy.logerr(
'Starting pose for interpolated IK had IK error ' +
str(ik_sol.error_code.val))
raise ArmNavError(
'Starting pose for interpolated IK had no IK solution',
error_code=ik_sol.error_code)
starting_state = ik_sol.solution
#self._psi.set_robot_state(starting_state)
rospy.logdebug('Planning interpolated IK from\n' + str(starting_pose) +
'\nto\n' + str(pose_stamped))
init_state = RobotState()
init_state.joint_state = starting_state.joint_state
init_state.multi_dof_joint_state.frame_ids.append(
starting_pose.header.frame_id)
init_state.multi_dof_joint_state.child_frame_ids.append(
self.hand.hand_frame)
init_state.multi_dof_joint_state.poses.append(starting_pose.pose)
goal = conv.pose_stamped_to_motion_plan_request(pose_stamped,
self.hand.hand_frame,
self.arm_name,
init_state,
bounds=bounds)
dist = gt.euclidean_distance(pose_stamped.pose.position,
starting_pose.pose.position)
if nsteps == 0:
if resolution == 0:
rospy.logwarn(
'Resolution and steps were both zero in interpolated IK. '
+ 'Using default resolution of 0.005')
resolution = 0.005
nsteps = int(dist / resolution)
res = dist / nsteps
req = SetInterpolatedIKMotionPlanParamsRequest()
req.num_steps = nsteps
req.consistent_angle = consistent_angle
req.collision_check_resolution = collision_check_resolution
req.steps_before_abort = steps_before_abort
req.collision_aware = collision_aware
req.start_from_end = reverse
if max_joint_vels:
req.max_joint_vels = max_joint_vels
if max_joint_accs:
req.max_joint_accs = max_joint_accs
self._interpolated_ik_parameter_service(req)
rospy.loginfo(
'Calling interpolated ik motion planning service. Expecting ' +
str(nsteps) + ' steps')
rospy.logdebug('Sending goal\n' + str(goal))
ik_resp = self._interpolated_ik_planning_service(goal)
self._psi.remove_ordered_collisions(ordered_collisions)
#self._psi.set_robot_state(prior_state)
traj = ik_resp.trajectory.joint_trajectory
first_index = 0
rospy.logdebug('Trajectory error codes are ' +
str([e.val for e in ik_resp.trajectory_error_codes]))
if reverse:
for first_index in range(len(ik_resp.trajectory_error_codes)):
e = ik_resp.trajectory_error_codes[first_index]
if e.val == e.SUCCESS:
break
last_index = 0
e = ArmNavigationErrorCodes()
e.val = e.SUCCESS
for last_index in range(first_index,
len(ik_resp.trajectory_error_codes) + 1):
if last_index == len(ik_resp.trajectory_error_codes):
#the whole trajectory works
break
e = ik_resp.trajectory_error_codes[last_index]
if e.val != e.SUCCESS:
rospy.logerr('Interpolated IK failed with error ' +
str(e.val) + ' on step ' + str(last_index) +
' after distance ' +
str((last_index + 1 - first_index) * res))
last_index -= 1
break
rospy.logdebug('First index = ' + str(first_index) +
', last index = ' + str(last_index))
distance = (last_index - first_index) * res
traj.points = traj.points[first_index:max(0, last_index)]
rospy.loginfo('Interpolated IK returned trajectory with ' +
str(len(traj.points)) + ' points')
if e.val != e.SUCCESS and (not min_acceptable_distance
or distance < min_acceptable_distance):
raise ArmNavError(
'Interpolated IK failed after ' +
str(last_index - first_index) + ' steps.',
error_code=e,
trajectory_error_codes=ik_resp.trajectory_error_codes,
trajectory=traj)
if not reverse or not traj.points:
return tt.add_state_to_front_of_joint_trajectory(
self.arm_joint_state(robot_state=starting_state), traj)
return traj
def plan_interpolated_ik(self, pose_stamped, starting_pose=None, ordered_collisions=None, bounds = None,
starting_state=None, min_acceptable_distance=None, collision_aware=True,
reverse=False, resolution=0.005, nsteps=0, consistent_angle=np.pi/6.0,
steps_before_abort=0, collision_check_resolution=2, max_joint_vels=None,
max_joint_accs=None):
'''
Plans a path that follows a straight line in Cartesian space.
This function is useful for tasks like grasping where it is necessary to ensure that the gripper moves in a
straight line relative to the world. The trajectory returned from this function is safe to execute.
This function may alter the planning scene during planning, but returns it to its initial state when
finished.
There are a lot of possible arguments to this function but in general the defaults work well.
**Args:**
**pose_stamped (geomety_msgs.msg.PoseStamped):** The ending pose for the hand frame defined in hand (see
hand_description.py)
*starting_pose (geometry_msgs.msg.PoseStamped):* The starting pose of the hand frame. If None, this will
use the current pose of the hand frame in the starting state
*ordered_collisions (arm_navigation_msgs.msg.OrderedCollisionOperations):* Any additional collision
operations besides those in the planning scene interface you want to use during planning.
*bounds ([double]):* Acceptable errors for the goal position as (x, y, z, roll, pitch, yaw). If nothing
is passed in, uses the defaults defined in conversions.py
*starting_state (arm_navigation_msgs.msg.RobotState):* The state of the robot at the start of the plan if
reverse is False and at the end of the plan if reverse is True. If you pass in a starting_pose that
does not match the starting state, the planner will use the starting_pose not the stating_state. If you
pass in a starting state and no starting pose, the planner will use the hand frame pose in the starting
state. If you pass in no starting state, but you do pass in a starting_pose, the planner will solve for
a collision free IK solution for the starting state. If you pass in no starting state or starting pose,
the planner will use the current robot state in the planning scene interface. If reverse is False, the
starting state will be appended to the front of the trajectory.
*min_acceptable_distance (double):* If the planner finds a path of at least this distance (in meters),
it is a success. This must be greater than zero; to disable, set to None.
*collision_aware (boolean):* Set to False if you want no collision checking to be done
*reverse (boolean):* Set to True if you want the planner to start planning at pose_stamped and try to
plan towards starting_pose. The trajectory returned will still end at pose_stamped.
*resolution (double):* The resolution in centimeters between points on the trajectory in Carteisan space.
Will only be used if nsteps=0.
*nsteps (int):* The number of steps you want on the trajectory. If nsteps is set, resolution will be
ignored.
*consistent_angle (double):* If any joint angle between two points on this trajectory changes by more
than this amount, the planning will fail.
*steps_before_abort (int):* The number of invalid steps (no IK solution etc) allowed before the planning
fails.
*collision_check_resolution (int):* Collisions will be checked every collision_check_resolution steps
*max_joint_vels ([double]):* Maximum allowed joint velocities. If not passed in, will be set to 0.1 for
all joints.
*max_joint_accs ([double]):* Maximum allowed joint accelerations. If not passed in, only velocity
constraints will be used.
**Returns:**
A trajectory_msgs.msg.JointTrajectory that is safe to execute in which the hand frame moves in a straight
line in Cartesian space.
**Raises:**
**exceptions.ArmNavError:** if no plan can be found.
**rospy.ServiceException:** if there is a problem with the call to the planning or parameter service
'''
#prior_state = self._psi.get_robot_state()
self._psi.add_ordered_collisions(ordered_collisions)
#if starting_state:
#starting_state = self.get_closest_state_in_limits(robot_state=starting_state)
#self._psi.set_robot_state(starting_state)
if not starting_pose:
starting_pose = self.get_hand_frame_pose(robot_state=starting_state, frame_id=pose_stamped.header.frame_id)
else:
starting_pose = self._psi.transform_pose_stamped(pose_stamped.header.frame_id, starting_pose)
if starting_state:
#check that it matches
if not reverse:
chk_pose = starting_pose
else:
chk_pose = pose_stamped
starting_fk = self.get_hand_frame_pose(robot_state=starting_state,
frame_id=chk_pose.header.frame_id)
if not gt.near(starting_fk.pose, chk_pose.pose):
rospy.logwarn('Input starting state does not match starting pose. '+
'Solving for an IK solution instead')
rospy.logdebug('Starting FK is\n'+str(starting_fk)+'\nCheck pose is\n'+str(chk_pose))
rospy.logdebug('Euclidean distance is: '+
str(gt.euclidean_distance(starting_fk.pose.position, chk_pose.pose.position))+
', angular distance is: '+
str(gt.quaternion_distance(starting_fk.pose.orientation, chk_pose.pose.orientation)))
starting_state = None
if not starting_state:
if reverse:
ik_sol = self.get_ik(pose_stamped, collision_aware=collision_aware)
else:
ik_sol = self.get_ik(starting_pose, collision_aware=collision_aware)
if ik_sol.error_code.val != ik_sol.error_code.SUCCESS:
rospy.logerr('Starting pose for interpolated IK had IK error '+str(ik_sol.error_code.val))
raise ArmNavError('Starting pose for interpolated IK had no IK solution',
error_code = ik_sol.error_code)
starting_state = ik_sol.solution
#self._psi.set_robot_state(starting_state)
rospy.logdebug('Planning interpolated IK from\n'+str(starting_pose)+'\nto\n'+str(pose_stamped))
init_state = RobotState()
init_state.joint_state = starting_state.joint_state
init_state.multi_dof_joint_state.frame_ids.append(starting_pose.header.frame_id)
init_state.multi_dof_joint_state.child_frame_ids.append(self.hand.hand_frame)
init_state.multi_dof_joint_state.poses.append(starting_pose.pose)
goal = conv.pose_stamped_to_motion_plan_request(pose_stamped, self.hand.hand_frame, self.arm_name,
init_state, bounds=bounds)
dist = gt.euclidean_distance(pose_stamped.pose.position, starting_pose.pose.position)
if nsteps == 0:
if resolution == 0:
rospy.logwarn('Resolution and steps were both zero in interpolated IK. '+
'Using default resolution of 0.005')
resolution = 0.005
nsteps = int(dist/resolution)
res = dist/nsteps
req = SetInterpolatedIKMotionPlanParamsRequest()
req.num_steps = nsteps
req.consistent_angle = consistent_angle
req.collision_check_resolution = collision_check_resolution
req.steps_before_abort = steps_before_abort
req.collision_aware = collision_aware
req.start_from_end = reverse
if max_joint_vels:
req.max_joint_vels = max_joint_vels
if max_joint_accs:
req.max_joint_accs = max_joint_accs
self._interpolated_ik_parameter_service(req)
rospy.loginfo('Calling interpolated ik motion planning service. Expecting '+str(nsteps)+' steps')
rospy.logdebug('Sending goal\n'+str(goal))
ik_resp = self._interpolated_ik_planning_service(goal)
self._psi.remove_ordered_collisions(ordered_collisions)
#self._psi.set_robot_state(prior_state)
traj = ik_resp.trajectory.joint_trajectory
first_index = 0
rospy.logdebug('Trajectory error codes are '+str([e.val for e in ik_resp.trajectory_error_codes]))
if reverse:
for first_index in range(len(ik_resp.trajectory_error_codes)):
e = ik_resp.trajectory_error_codes[first_index]
if e.val == e.SUCCESS:
break
last_index = 0
e = ArmNavigationErrorCodes()
e.val = e.SUCCESS
for last_index in range(first_index,len(ik_resp.trajectory_error_codes)+1):
if last_index == len(ik_resp.trajectory_error_codes):
#the whole trajectory works
break
e = ik_resp.trajectory_error_codes[last_index]
if e.val != e.SUCCESS:
rospy.logerr('Interpolated IK failed with error '+str(e.val)+' on step ' +str(last_index)+
' after distance '+ str((last_index+1-first_index)*res))
last_index -= 1
break
rospy.logdebug('First index = '+str(first_index)+', last index = '+str(last_index))
distance = (last_index-first_index)*res
traj.points = traj.points[first_index:max(0,last_index)]
rospy.loginfo('Interpolated IK returned trajectory with '+str(len(traj.points))+' points')
if e.val != e.SUCCESS and (not min_acceptable_distance or distance < min_acceptable_distance):
raise ArmNavError('Interpolated IK failed after '+str(last_index-first_index)+' steps.', error_code=e,
trajectory_error_codes = ik_resp.trajectory_error_codes, trajectory=traj)
if not reverse or not traj.points:
return tt.add_state_to_front_of_joint_trajectory(self.arm_joint_state(robot_state=starting_state), traj)
return traj
