def create_basic_mp_position_request(
planning_frame,
link_name,
target_point_offset,
planner_id):
motion_plan_request = MotionPlanRequest()
motion_plan_request.group_name = move_group
motion_plan_request.num_planning_attempts = 1
motion_plan_request.allowed_planning_time = 5.0
motion_plan_request.workspace_parameters = WorkspaceParameters()
motion_plan_request.max_velocity_scaling_factor = 0.5
motion_plan_request.max_acceleration_scaling_factor = 0.5
motion_plan_request.planner_id = planner_id
position_constraints = []
position_constraint = PositionConstraint()
header = std_msgs.msg.Header()
header.frame_id = planning_frame
position_constraint.header = header
position_constraint.link_name = link_name
position_constraint.target_point_offset = target_point_offset
position_constraints = [position_constraint]
constraint = Constraints()
constraint.position_constraints = position_constraints
constraints = [constraint]
motion_plan_request.goal_constraints = constraints
return motion_plan_request
def constraint_planner(start_robot_state, goal_config, group_handle, planner_name, planning_attemps, planning_time): planning_workspace = WorkspaceParameters(); planning_workspace.header.frame_id = "/base_link"; planning_workspace.header.stamp = rospy.Time.now(); planning_workspace.min_corner.x = -1; planning_workspace.min_corner.y = -1; planning_workspace.min_corner.z = -1; planning_workspace.max_corner.x = 1; planning_workspace.max_corner.y = 1; planning_workspace.max_corner.z = 1; # Set Start start_state = RobotState(); start_state = start_robot_state; print ">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>"; #print start_robot_state; # Set Goal goal_state = Constraints(); Jnt_constraint = setJointConstraints(goal_config, group_handle); goal_state.joint_constraints = Jnt_constraint; #print Jnt_constraint; # Set Constraints des_w = -0.070099; des_x = 0.41382; des_y = -0.57302; des_z = 0.70391; rotation_constraints = setOrientationConstraints(des_w,des_x,des_y,des_z,group_handle, weight = 1.0); # Generating Request planningRequest = MotionPlanRequest(); planningRequest.workspace_parameters = planning_workspace; planningRequest.start_state = start_robot_state; planningRequest.goal_constraints.append(goal_state); # Setting Constraint planningRequest.path_constraints.name = 'scoop_constraint'; planningRequest.path_constraints.orientation_constraints.append(rotation_constraints); #traj_constraint = Constraints(); #traj_constraint.orientation_constraints.append(rotation_constraints); #planningRequest.trajectory_constraints.constraints.append(traj_constraint); planningRequest.planner_id = "RRTConnectkConfigDefault"; planningRequest.group_name = group_handle.get_name(); planningRequest.num_planning_attempts = planning_attemps; planningRequest.allowed_planning_time = planning_time; planningRequest.max_velocity_scaling_factor = 1.0; Planning_req.publish(planningRequest);
def create_basic_mp_joint_request(joint_names, joint_values, planner_id):
motion_plan_request = MotionPlanRequest()
motion_plan_request.group_name = move_group
motion_plan_request.num_planning_attempts = 1
motion_plan_request.allowed_planning_time = 5.0
motion_plan_request.workspace_parameters = WorkspaceParameters()
motion_plan_request.max_velocity_scaling_factor = 0.5
motion_plan_request.max_acceleration_scaling_factor = 0.5
motion_plan_request.planner_id = planner_id
joint_constraints = []
for i in range(len(joint_names)):
joint_con = JointConstraint()
joint_con.joint_name = joint_names[i]
joint_con.position = joint_values[i]
joint_con.tolerance_above = 0.0001
joint_con.tolerance_below = 0.0001
joint_con.weight = 0.0001
joint_constraints.append(joint_con)
constraint = Constraints()
constraint.joint_constraints = joint_constraints
constraints = [constraint]
motion_plan_request.goal_constraints = constraints
return motion_plan_request
jc0.joint_name = "flange"
jc0.position = -4.43859335239
jc0.tolerance_above = 0.0001
jc0.tolerance_below = 0.0001
jc0.weight = 1.0
cons = Constraints()
cons.name = ""
cons.joint_constraints.append(jc2)
cons.joint_constraints.append(jc3)
cons.joint_constraints.append(jc4)
cons.joint_constraints.append(jc5)
cons.joint_constraints.append(jc1)
cons.joint_constraints.append(jc0)
msg.workspace_parameters = workspace_parameters
msg.start_state = start_state
msg.goal_constraints.append(cons)
msg.num_planning_attempts = 1
msg.allowed_planning_time = 5.0
msg.group_name = "manipulator"
move_group_goal.request = msg
client.send_goal(move_group_goal)
client.wait_for_result(rospy.Duration.from_sec(5.0))
except rospy.ROSInterruptException, e:
def joint_position_callback(joints):
global plan_only
fixed_frame = rospy.get_param("/fixed_frame")
client = actionlib.SimpleActionClient('move_group', MoveGroupAction)
client.wait_for_server()
move_group_goal = MoveGroupGoal()
try:
msg = MotionPlanRequest()
workspace_parameters = WorkspaceParameters()
workspace_parameters.header.stamp = rospy.Time.now()
workspace_parameters.header.frame_id = fixed_frame
workspace_parameters.min_corner = Vector3(-1.0, -1.0, -1.0)
workspace_parameters.max_corner = Vector3(1.0, 1.0, 1.0)
start_state = RobotState()
# start_state.joint_state.header.stamp = rospy.Time.now()
start_state.joint_state.header.frame_id = fixed_frame
start_state.joint_state.name = []
start_state.joint_state.position = []
cons = Constraints()
cons.name = ""
i = 0
for dim in joints.start_joint.layout.dim:
start_state.joint_state.name.append(dim.label)
start_state.joint_state.position.append(joints.start_joint.data[i])
jc = JointConstraint()
jc.joint_name = dim.label
jc.position = joints.goal_joint.data[i]
jc.tolerance_above = 0.0001
jc.tolerance_below = 0.0001
jc.weight = 1.0
i = i + 1
cons.joint_constraints.append(jc)
msg.workspace_parameters = workspace_parameters
msg.start_state = start_state
msg.goal_constraints.append(cons)
msg.num_planning_attempts = 1
msg.allowed_planning_time = 5.0
msg.group_name = joints.group_name
move_group_goal.request = msg
if joints.plan_only:
plan_only = True
move_group_goal.planning_options.plan_only = True
else:
plan_only = False
client.send_goal(move_group_goal)
client.wait_for_result(rospy.Duration.from_sec(5.0))
except rospy.ROSInterruptException, e:
print "failed: %s"%e
jc0.joint_name = "flange"
jc0.position = -4.43859335239
jc0.tolerance_above = 0.0001
jc0.tolerance_below = 0.0001
jc0.weight = 1.0
cons = Constraints()
cons.name = ""
cons.joint_constraints.append(jc2)
cons.joint_constraints.append(jc3)
cons.joint_constraints.append(jc4)
cons.joint_constraints.append(jc5)
cons.joint_constraints.append(jc1)
cons.joint_constraints.append(jc0)
msg.workspace_parameters = workspace_parameters
msg.start_state = start_state
msg.goal_constraints.append(cons)
msg.num_planning_attempts = 1
msg.allowed_planning_time = 5.0
msg.group_name = "manipulator"
move_group_goal.request = msg
client.send_goal(move_group_goal)
client.wait_for_result(rospy.Duration.from_sec(5.0))
except rospy.ROSInterruptException, e:
print "failed: %s" % e
def joint_position_callback(joints):
global plan_only
fixed_frame = rospy.get_param("/fixed_frame")
client = actionlib.SimpleActionClient('move_group', MoveGroupAction)
client.wait_for_server()
move_group_goal = MoveGroupGoal()
try:
msg = MotionPlanRequest()
workspace_parameters = WorkspaceParameters()
workspace_parameters.header.stamp = rospy.Time.now()
workspace_parameters.header.frame_id = fixed_frame
workspace_parameters.min_corner = Vector3(-1.0, -1.0, -1.0)
workspace_parameters.max_corner = Vector3(1.0, 1.0, 1.0)
start_state = RobotState()
# start_state.joint_state.header.stamp = rospy.Time.now()
start_state.joint_state.header.frame_id = fixed_frame
start_state.joint_state.name = []
start_state.joint_state.position = []
cons = Constraints()
cons.name = ""
i = 0
for dim in joints.start_joint.layout.dim:
start_state.joint_state.name.append(dim.label)
start_state.joint_state.position.append(joints.start_joint.data[i])
jc = JointConstraint()
jc.joint_name = dim.label
jc.position = joints.goal_joint.data[i]
jc.tolerance_above = 0.0001
jc.tolerance_below = 0.0001
jc.weight = 1.0
i = i + 1
cons.joint_constraints.append(jc)
msg.workspace_parameters = workspace_parameters
msg.start_state = start_state
msg.goal_constraints.append(cons)
msg.num_planning_attempts = 1
msg.allowed_planning_time = 5.0
msg.group_name = joints.group_name
move_group_goal.request = msg
if joints.plan_only:
plan_only = True
move_group_goal.planning_options.plan_only = True
else:
plan_only = False
client.send_goal(move_group_goal)
client.wait_for_result(rospy.Duration.from_sec(5.0))
except rospy.ROSInterruptException, e:
print "failed: %s" % e
