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Filter points within short distance to previous

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This commit is contained in:
Nicolas Hiillos
2023-03-08 18:49:35 +02:00
parent 4d00192240
commit c5c1b6d844
1 changed files with 38 additions and 12 deletions
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50
src/lite6_controller/src/lite6_controller.cpp
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@@ -2,6 +2,7 @@
#include <rclcpp/rclcpp.hpp> #include <rclcpp/rclcpp.hpp>
#include <robot_controller/robot_controller.hpp> #include <robot_controller/robot_controller.hpp>
#include <chrono> #include <chrono>
#include <cstdlib>
//#include <queue> //#include <queue>
#include <fstream> #include <fstream>
@@ -187,6 +188,17 @@ public:
return pose; return pose;
} }
/**
* Checks if points are within a radius of eachother, specified by the tolerance argument
*/
bool coincidentPoints(geometry_msgs::msg::Point *p1, geometry_msgs::msg::Point *p2, double tolerance)
{
bool x = std::abs(p1->x - p2->x) <= tolerance;
bool y = std::abs(p1->y - p2->y) <= tolerance;
bool z = std::abs(p1->z - p2->z) <= tolerance;
return x && y && z;
}
/** /**
* *
*/ */
@@ -196,6 +208,10 @@ public:
//waypoints.push_back(move_group.getCurrentPose().pose); //waypoints.push_back(move_group.getCurrentPose().pose);
std::string ee_link = move_group.getLinkNames().back(); std::string ee_link = move_group.getLinkNames().back();
RCLCPP_INFO(this->get_logger(), "Got ee_link: %s", ee_link.c_str()); RCLCPP_INFO(this->get_logger(), "Got ee_link: %s", ee_link.c_str());
geometry_msgs::msg::Point previous_point;
//previous_point.point.x = -1.0;
//previous_point.point.y = -1.0;
//previous_point.point.z = -1.0;
for (auto p : *path) for (auto p : *path)
{ {
//RCLCPP_INFO(this->get_logger(), "Creating MSI"); //RCLCPP_INFO(this->get_logger(), "Creating MSI");
@@ -204,41 +220,51 @@ public:
planning_interface::MotionPlanRequest mpr = planning_interface::MotionPlanRequest(); planning_interface::MotionPlanRequest mpr = planning_interface::MotionPlanRequest();
mpr.planner_id = "PTP"; mpr.planner_id = "PTP";
mpr.group_name = move_group.getName(); mpr.group_name = move_group.getName();
mpr.max_velocity_scaling_factor = 0.5; mpr.max_velocity_scaling_factor = 1.0;
mpr.max_acceleration_scaling_factor = 0.5; mpr.max_acceleration_scaling_factor = 1.0;
mpr.allowed_planning_time = 10; mpr.allowed_planning_time = 10;
mpr.max_cartesian_speed = 1; // m/s mpr.max_cartesian_speed = 2; // m/s
//mpr.goal_constraints.position_constraints.header.frame_id = "world"; //mpr.goal_constraints.position_constraints.header.frame_id = "world";
// A tolerance of 0.01 m is specified in position // A tolerance of 0.01 m is specified in position
// and 0.01 radians in orientation // and 0.01 radians in orientation
std::vector<double> tolerance_pose(3, 0.01); //std::vector<double> tolerance_pose(3, 0.01);
std::vector<double> tolerance_angle(3, 0.01); //std::vector<double> tolerance_angle(3, 0.01);
// Set motion goal of end effector link // Set motion goal of end effector link
//std::string ee_link = moveit_cpp_->getRobotModel()->getJointModelGroup(planning_component_->getPlanningGroupName())->getLinkModelNames().back(); //std::string ee_link = moveit_cpp_->getRobotModel()->getJointModelGroup(planning_component_->getPlanningGroupName())->getLinkModelNames().back();
//RCLCPP_INFO(this->get_logger(), "Got ee_link");
//moveit_msgs::msg::Constraints pose_goal = //moveit_msgs::msg::Constraints pose_goal =
// kinematic_constraints::constructGoalConstraints(ee_link, p, tolerance_pose, tolerance_angle); // kinematic_constraints::constructGoalConstraints(ee_link, p, tolerance_pose, tolerance_angle);
//kinematic_constraints::constructGoalConstraints(ee_link, pose, tolerance_pose, tolerance_angle); //kinematic_constraints::constructGoalConstraints(ee_link, pose, tolerance_pose, tolerance_angle);
geometry_msgs::msg::PointStamped point; //geometry_msgs::msg::PointStamped point;
auto position = translatePose(p).pose.position; geometry_msgs::msg::Point point;
point.point = position; auto pose = translatePose(p);
moveit_msgs::msg::Constraints pose_goal = moveit_msgs::msg::Constraints pose_goal =
kinematic_constraints::constructGoalConstraints(ee_link, pose, 1e-3, 1e-2);
//kinematic_constraints::constructGoalConstraints(ee_link, point, 1e-5); //kinematic_constraints::constructGoalConstraints(ee_link, point, 1e-5);
kinematic_constraints::constructGoalConstraints(ee_link, translatePose(p), 1e-3, 1e-2);
//kinematic_constraints::constructGoalConstraints(ee_link, p, 1.0, 1.0); //kinematic_constraints::constructGoalConstraints(ee_link, p, 1.0, 1.0);
//kinematic_constraints::constructGoalConstraints(ee_link, p, 1e-3, 1e-2); //kinematic_constraints::constructGoalConstraints(ee_link, p, 1e-3, 1e-2);
mpr.goal_constraints.push_back(pose_goal); mpr.goal_constraints.push_back(pose_goal);
msi.req = mpr; msi.req = mpr;
msi.blend_radius = 0.0; //TODO make configurable //msi.blend_radius = 0.0; //TODO make configurable
//msi.blend_radius = 0.000000001; //TODO make configurable msi.blend_radius = 1e-15; //TODO make configurable
if (coincidentPoints(&pose.pose.position, &previous_point, msi.blend_radius * 1e12))
{
RCLCPP_INFO(this->get_logger(), "Detected coincident points, setting blend radius to 0.0");
// if points are too close, set blend radius to zero.
msi.blend_radius = 0.0;
// also set previous to 0
if (msr.items.size() > 0)
msr.items.back().blend_radius = 0.0;
}
previous_point = pose.pose.position;
msr.items.push_back(msi); msr.items.push_back(msi);
} }
msr.items.back().blend_radius = 0.0; // Last element blend must be 0 msr.items.back().blend_radius = 0.0; // Last element blend must be 0