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Concatenate RobotTrajectories and execute together

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This commit is contained in:
Nicolas Hiillos
2023-01-26 11:30:32 +02:00
parent 4146a5b269
commit 5b4d952977
1 changed files with 28 additions and 15 deletions
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43
src/lite6_controller/src/lite6_controller.cpp
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@@ -219,15 +219,27 @@ public:
//move_group.setPlanningPipelineId("PTP"); //move_group.setPlanningPipelineId("PTP");
move_group.setPlannerId("PTP"); move_group.setPlannerId("PTP");
robot_trajectory::RobotTrajectory previous_trajectory(move_group.getCurrentState()->getRobotModel(), move_group.getName());
previous_trajectory.setRobotTrajectoryMsg(*move_group.getCurrentState(), *trajectory);
moveit::planning_interface::MoveGroupInterface::Plan plan; moveit::planning_interface::MoveGroupInterface::Plan plan;
bool success = (move_group.plan(plan) == moveit::core::MoveItErrorCode::SUCCESS); bool success = (move_group.plan(plan) == moveit::core::MoveItErrorCode::SUCCESS);
RCLCPP_INFO(this->get_logger(), "Plan (pose goal) %s", success ? "SUCCEEDED" : "FAILED"); RCLCPP_INFO(this->get_logger(), "Plan (pose goal) %s", success ? "SUCCEEDED" : "FAILED");
robot_trajectory::RobotTrajectory next_trajectory(move_group.getCurrentState()->getRobotModel(), move_group.getName());
next_trajectory.setRobotTrajectoryMsg(*move_group.getCurrentState(), plan.trajectory_);
// append trajectory, with time step of 2.0, not skipping any points
previous_trajectory.append(next_trajectory, 2.0, 0);
*trajectory = moveit_msgs::msg::RobotTrajectory();
previous_trajectory.getRobotTrajectoryMsg(*trajectory);
// Append segment to complete trajectory // Append segment to complete trajectory
trajectory->joint_trajectory.points.insert(trajectory->joint_trajectory.points.end(), //trajectory->joint_trajectory.points.insert(trajectory->joint_trajectory.points.end(),
plan.trajectory_.joint_trajectory.points.begin(), // plan.trajectory_.joint_trajectory.points.begin(),
plan.trajectory_.joint_trajectory.points.end()); // plan.trajectory_.joint_trajectory.points.end());
trajectory->joint_trajectory.joint_names = plan.trajectory_.joint_trajectory.joint_names; //trajectory->joint_trajectory.joint_names = plan.trajectory_.joint_trajectory.joint_names;
move_group.clearPoseTarget(); move_group.clearPoseTarget();
} }
@@ -264,8 +276,9 @@ public:
//} //}
//RCLCPP_INFO(this->get_logger(), "Created MSR"); //RCLCPP_INFO(this->get_logger(), "Created MSR");
moveit_msgs::msg::RobotTrajectory trajectory; moveit_msgs::msg::RobotTrajectory multi_trajectory;
robot_trajectory::RobotTrajectory rt(move_group.getRobotModel(), MOVE_GROUP); //robot_trajectory::RobotTrajectory rt(move_group.getRobotModel(), MOVE_GROUP);
robot_trajectory::RobotTrajectory single_trajectory(move_group.getCurrentState()->getRobotModel(), move_group.getName());
move_group.setStartStateToCurrentState(); move_group.setStartStateToCurrentState();
for (auto p : goal->motion.path) for (auto p : goal->motion.path)
@@ -273,27 +286,27 @@ public:
//RCLCPP_INFO(this->get_logger(), "Planning trajectory"); //RCLCPP_INFO(this->get_logger(), "Planning trajectory");
// Append next pose to trajectory // Append next pose to trajectory
addPoseToTrajectory(p, &trajectory); addPoseToTrajectory(p, &multi_trajectory);
// set move_group start state to final pose of trajectory // set move_group start state to final pose of trajectory
//RCLCPP_INFO(this->get_logger(), "setRobotTrajectoryMsg"); //RCLCPP_INFO(this->get_logger(), "setRobotTrajectoryMsg");
//rt.setRobotTrajectoryMsg(*(move_group.getCurrentState(100)), trajectory); single_trajectory.setRobotTrajectoryMsg(*move_group.getCurrentState(), multi_trajectory);
//rt.setRobotTrajectoryMsg(rt.getLastWayPoint(), trajectory);
//RCLCPP_INFO(this->get_logger(), "getLastWayPoint"); //RCLCPP_INFO(this->get_logger(), "getLastWayPoint");
//moveit::core::RobotState robot_state = rt.getLastWayPoint(); moveit::core::RobotState robot_state = single_trajectory.getLastWayPoint();
//RCLCPP_INFO(this->get_logger(), "eef"); //RCLCPP_INFO(this->get_logger(), "eef");
//const Eigen::Isometry3d& eef_transform = robot_state.getGlobalLinkTransform(move_group.getEndEffectorLink()); //const Eigen::Isometry3d& eef_transform = robot_state.getGlobalLinkTransform(move_group.getEndEffectorLink());
//geometry_msgs::msg::Pose pose; //geometry_msgs::msg::Pose pose;
//pose = Eigen::toMsg(eef_transform); //pose = Eigen::toMsg(eef_transform);
////tf2::toMsg(eef_transform, pose); move_group.setStartState(robot_state);
//move_group.setStartStateToCurrentState();
RCLCPP_INFO(this->get_logger(), "Executing trajectory with %ld points", trajectory.joint_trajectory.points.size());
// TODO remove //trajectory = moveit_msgs::msg::RobotTrajectory();
this->move_group.execute(trajectory);
trajectory = moveit_msgs::msg::RobotTrajectory();
} }
RCLCPP_INFO(this->get_logger(), "Executing trajectory with %ld points", multi_trajectory.joint_trajectory.points.size());
this->move_group.execute(multi_trajectory);
//double fraction = this->move_group.computeCartesianPath(waypoints, eef_step, jump_threshold, trajectory); //double fraction = this->move_group.computeCartesianPath(waypoints, eef_step, jump_threshold, trajectory);
//RCLCPP_INFO(this->get_logger(), "Visualizing plan 4 (Cartesian path) (%.2f%% achieved)", fraction * 100.0); //RCLCPP_INFO(this->get_logger(), "Visualizing plan 4 (Cartesian path) (%.2f%% achieved)", fraction * 100.0);