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Clean unused code

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This commit is contained in:
Nicolas Hiillos
2023-03-02 14:00:14 +02:00
parent de57ae288d
commit f17dd45a99
1 changed files with 23 additions and 257 deletions
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280
src/lite6_controller/src/lite6_controller.cpp
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@@ -75,10 +75,16 @@ public:
// Set limits for A4 paper // Set limits for A4 paper
// 297x210 // 297x210
//float xlim_lower = 0.30;
//float xlim_upper = 0.305;
//float ylim_lower = -0.02;
//float ylim_upper = 0.00;
//float zlim_lower = 0.25;
//float zlim_upper = 0.255;
float xlim_lower = 0.20; float xlim_lower = 0.20;
float xlim_upper = 0.25; float xlim_upper = 0.25;
float ylim_lower = -0.10; float ylim_lower = -0.05;
float ylim_upper = 0.115; float ylim_upper = 0.05;
float zlim_lower = 0.157; float zlim_lower = 0.157;
float zlim_upper = 0.17; float zlim_upper = 0.17;
@@ -151,49 +157,6 @@ public:
} }
/**
* This function takes a pose and returns a MotionPlanRequest
*/
planning_interface::MotionPlanRequest createRequest(geometry_msgs::msg::PoseStamped pose)
{
planning_interface::MotionPlanRequest mpr = planning_interface::MotionPlanRequest();
mpr.planner_id = "PTP";
//mpr.goal_constraints.position_constraints.header.frame_id = "world";
// A tolerance of 0.01 m is specified in position
// and 0.01 radians in orientation
std::vector<double> tolerance_pose(3, 0.01);
std::vector<double> tolerance_angle(3, 0.01);
// Set motion goal of end effector link
//std::string ee_link = moveit_cpp_->getRobotModel()->getJointModelGroup(planning_component_->getPlanningGroupName())->getLinkModelNames().back();
//RCLCPP_INFO(this->get_logger(), "Got ee_link");
mpr.group_name = MOVE_GROUP;
moveit_msgs::msg::Constraints pose_goal =
kinematic_constraints::constructGoalConstraints("link_eef", pose, tolerance_pose, tolerance_angle);
//kinematic_constraints::constructGoalConstraints(ee_link, pose, tolerance_pose, tolerance_angle);
mpr.goal_constraints.push_back(pose_goal);
return mpr;
}
// TODO implement time param
// https://moveit.picknik.ai/foxy/doc/move_group_interface/move_group_interface_tutorial.html
// https://groups.google.com/g/moveit-users/c/MOoFxy2exT4
// https://docs.ros.org/en/noetic/api/moveit_msgs/html/msg/RobotTrajectory.html
// TODO implement feedback
// https://answers.ros.org/question/249995/how-to-check-sate-of-plan-execution-in-moveit-during-async-execution-in-python/
//
// Useful
// https://groups.google.com/g/moveit-users/c/I4sPhq_JGQk
// https://groups.google.com/g/moveit-users/c/MOoFxy2exT4/m/0AwRHOuEwRgJ
// https://discourse.ros.org/t/moveit-trajectory-through-waypoints/17439
// https://answers.ros.org/question/330632/moveit-motion-planning-how-should-i-splice-several-planned-motion-trajectories/
// https://groups.google.com/g/moveit-users/c/lZL2HTjLu-k
//
/** /**
* Function that translates an input value with a given range to a value within another range. * Function that translates an input value with a given range to a value within another range.
@@ -227,127 +190,6 @@ public:
return pose; return pose;
} }
void logPose(geometry_msgs::msg::PoseStamped pose)
{
RCLCPP_INFO(this->get_logger(), "pose position.x: %f", pose.pose.position.x);
RCLCPP_INFO(this->get_logger(), "pose position.y: %f", pose.pose.position.y);
RCLCPP_INFO(this->get_logger(), "pose position.z: %f", pose.pose.position.z);
}
/**
* Creates a trajectory for a pose and appends it to a given trajectory
*/
bool addPoseToTrajectory(geometry_msgs::msg::PoseStamped pose, moveit_msgs::msg::RobotTrajectory *trajectory, moveit::core::RobotStatePtr state)
{
pose = translatePose(pose);
move_group.setPoseTarget(pose);
//move_group.setApproximateJointValueTarget(pose, "link_eef");
//moveit_msgs::msg::RobotTrajectory trajectory;
//move_group.setPlanningPipelineId("PTP");
move_group.setPlannerId("PTP");
robot_trajectory::RobotTrajectory previous_trajectory(state->getRobotModel(), move_group.getName());
previous_trajectory.setRobotTrajectoryMsg(*state, *trajectory);
moveit::planning_interface::MoveGroupInterface::Plan plan;
bool success = (move_group.plan(plan) == moveit::core::MoveItErrorCode::SUCCESS);
RCLCPP_INFO(this->get_logger(), "Plan (pose goal) %s", success ? "SUCCEEDED" : "FAILED, trying approximate method (if enabled)");
if (success)
{
robot_trajectory::RobotTrajectory next_trajectory(state->getRobotModel(), move_group.getName());
next_trajectory.setRobotTrajectoryMsg(*state, plan.trajectory_);
// append trajectory, with time step of 2.0, not skipping any points
previous_trajectory.append(next_trajectory, 0.000001, 0);
*trajectory = moveit_msgs::msg::RobotTrajectory();
previous_trajectory.getRobotTrajectoryMsg(*trajectory);
// Append segment to complete trajectory
//trajectory->joint_trajectory.points.insert(trajectory->joint_trajectory.points.end(),
// plan.trajectory_.joint_trajectory.points.begin(),
// plan.trajectory_.joint_trajectory.points.end());
//trajectory->joint_trajectory.joint_names = plan.trajectory_.joint_trajectory.joint_names;
}
else
{
// Unsafe approximate solution
// Likely to break pens
//success = addPoseToTrajectoryApproximate(pose, trajectory);
}
move_group.clearPoseTarget();
return success;
}
/**
* Creates a trajectory for a pose and appends it to a given trajectory
*/
bool addPoseToTrajectoryApproximate(geometry_msgs::msg::PoseStamped pose, moveit_msgs::msg::RobotTrajectory *trajectory)
{
pose = translatePose(pose);
move_group.setApproximateJointValueTarget(pose, "link_eef");
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;
bool success = (move_group.plan(plan) == moveit::core::MoveItErrorCode::SUCCESS);
RCLCPP_INFO(this->get_logger(), "Plan (pose goal) %s", success ? "SUCCEEDED" : "FAILED");
if (success)
{
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, 0.0001, 0);
*trajectory = moveit_msgs::msg::RobotTrajectory();
previous_trajectory.getRobotTrajectoryMsg(*trajectory);
// Append segment to complete trajectory
//trajectory->joint_trajectory.points.insert(trajectory->joint_trajectory.points.end(),
// plan.trajectory_.joint_trajectory.points.begin(),
// plan.trajectory_.joint_trajectory.points.end());
//trajectory->joint_trajectory.joint_names = plan.trajectory_.joint_trajectory.joint_names;
}
move_group.clearPoseTarget();
return success;
}
bool sendMSR(moveit_msgs::msg::MotionSequenceRequest msr)
{
RCLCPP_INFO(this->get_logger(), "Creating req");
auto req = rclcpp::Client<moveit_msgs::srv::GetMotionSequence>::SharedRequest();
RCLCPP_INFO(this->get_logger(), "Setting msr request");
req->request = msr;
RCLCPP_INFO(this->get_logger(), "Sending request to sequence service");
auto result = sequence_client_->async_send_request(req);
// Wait for the result.
if (rclcpp::spin_until_future_complete(this->shared_from_this(), result) ==
rclcpp::FutureReturnCode::SUCCESS)
{
//RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Sum: %ld", result.get()->sum);
//trajectory = result.get()->response->trajectory;
for (auto t : result.get()->response.planned_trajectories)
{
// TODO
//trajectory->append(t, 0.0001, 0);
RCLCPP_INFO(this->get_logger(), "Executing trajectory of length: %ld", t.joint_trajectory.points.size());
this->move_group.execute(t);
}
return true;
} else {
RCLCPP_ERROR(this->get_logger(), "Failed to call motion sequence service");
return false;
}
}
/** /**
* Callback that executes path on robot * Callback that executes path on robot
*/ */
@@ -411,14 +253,14 @@ public:
point.point = position; point.point = position;
moveit_msgs::msg::Constraints pose_goal = moveit_msgs::msg::Constraints pose_goal =
//kinematic_constraints::constructGoalConstraints(ee_link, point, 1e-5); //kinematic_constraints::constructGoalConstraints(ee_link, point, 1e-5);
kinematic_constraints::constructGoalConstraints(ee_link, translatePose(p), 1e-5, 1e-2); 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 = 0.00000001; //TODO make configurable msi.blend_radius = 0.000000001; //TODO make configurable
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
@@ -449,101 +291,25 @@ public:
{ {
RCLCPP_INFO(this->get_logger(), "Executing result"); RCLCPP_INFO(this->get_logger(), "Executing result");
move_group.execute(ts[0]); move_group.execute(ts[0]);
// Check if goal is done
if (rclcpp::ok()) {
result->result = "success";
goal_handle->succeed(result);
RCLCPP_INFO(this->get_logger(), "Goal succeeded");
return;
}
} }
} }
else else
{ {
RCLCPP_ERROR(this->get_logger(), "Planner failed to return trajectory in time"); RCLCPP_ERROR(this->get_logger(), "Planner failed to return trajectory in time");
} }
//for (auto t : res.get()->response.planned_trajectories) result->result = "failure";
//{ goal_handle->succeed(result);
// // TODO // abort prevents action from being called
// //trajectory->append(t, 0.0001, 0); //goal_handle->abort(result);
// RCLCPP_INFO(this->get_logger(), "Executing trajectory of length: %ld", t.joint_trajectory.points.size()); RCLCPP_ERROR(this->get_logger(), "Goal failed");
// this->move_group.execute(t);
//}
//try
//{
//}
//catch(const std::exception& e)
//{
// RCLCPP_ERROR(this->get_logger(), "Failed to call motion sequence service");
//}
//if (plan_success)
//{
// //trajectory.setRobotTrajectoryMsg(*move_group_state, trajectory_msg);
// RCLCPP_INFO(this->get_logger(), "Executing trajectory with %ld points", trajectory_msg->joint_trajectory.points.size());
// this->move_group.execute(*trajectory_msg);
//}
//else
//{
// RCLCPP_ERROR(this->get_logger(), "Motion sequence planning failed, not executing");
//}
//moveit_msgs::msg::RobotTrajectory multi_trajectory;
////robot_trajectory::RobotTrajectory rt(move_group.getRobotModel(), MOVE_GROUP);
//robot_trajectory::RobotTrajectory single_trajectory(move_group.getCurrentState()->getRobotModel(), move_group.getName());
//move_group.setStartStateToCurrentState();
//moveit::core::RobotStatePtr move_group_state = move_group.getCurrentState();
//for (auto p : goal->motion.path)
//{
// //RCLCPP_INFO(this->get_logger(), "Planning trajectory");
// // Append next pose to trajectory
// if (!addPoseToTrajectory(p, &multi_trajectory, move_group_state)) continue;
// // set move_group start state to final pose of trajectory
// //RCLCPP_INFO(this->get_logger(), "setRobotTrajectoryMsg");
// single_trajectory.setRobotTrajectoryMsg(*move_group_state, multi_trajectory);
// //rt.setRobotTrajectoryMsg(rt.getLastWayPoint(), trajectory);
// //RCLCPP_INFO(this->get_logger(), "getLastWayPoint");
// //
// //moveit::core::RobotState robot_state = single_trajectory.getLastWayPoint();
// moveit::core::RobotState robot_state = single_trajectory.getLastWayPoint();
// //RCLCPP_INFO(this->get_logger(), "eef");
// //const Eigen::Isometry3d& eef_transform = robot_state.getGlobalLinkTransform(move_group.getEndEffectorLink());
// //geometry_msgs::msg::Pose pose;
// //pose = Eigen::toMsg(eef_transform);
// move_group.setStartState(robot_state);
// //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);
//RCLCPP_INFO(this->get_logger(), "Visualizing plan 4 (Cartesian path) (%.2f%% achieved)", fraction * 100.0);
//waypoints.clear();
//for (int i = 1; (i <= 10) && rclcpp::ok(); ++i) {
// // Check if there is a cancel request
// if (goal_handle->is_canceling()) {
// result->result = feedback->status;
// goal_handle->canceled(result);
// RCLCPP_INFO(this->get_logger(), "Goal canceled");
// return;
// }
// // Update status
// feedback->status = std::to_string(i) + "/10 complete";
// // Publish feedback
// goal_handle->publish_feedback(feedback);
// RCLCPP_INFO(this->get_logger(), feedback->status.c_str());
// loop_rate.sleep();
//}
// Check if goal is done
if (rclcpp::ok()) {
result->result = "success";
goal_handle->succeed(result);
RCLCPP_INFO(this->get_logger(), "Goal succeeded");
}
} }
}; };