srdf_config.hpp

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/* Author: David V. Lu!! */
#pragma once
 
#include <moveit_setup_framework/config.hpp>
#include <moveit_setup_framework/templates.hpp>
#include <moveit_setup_framework/data/urdf_config.hpp>
#include <moveit/robot_model/robot_model.hpp>
#include <moveit/planning_scene/planning_scene.hpp>  // for getting kinematic model
#include <srdfdom/srdf_writer.h>                     // for writing srdf data
 
namespace moveit_setup
{
// bits of information that can be changed in the SRDF
enum InformationFields
{
  NONE = 0,
  COLLISIONS = 1 << 1,
  VIRTUAL_JOINTS = 1 << 2,
  GROUPS = 1 << 3,
  GROUP_CONTENTS = 1 << 4,
  POSES = 1 << 5,
  END_EFFECTORS = 1 << 6,
  PASSIVE_JOINTS = 1 << 7,
  OTHER = 1 << 8,
};
 
static const std::string JOINT_LIMITS_FILE = "config/joint_limits.yaml";
static const std::string CARTESIAN_LIMITS_FILE = "config/pilz_cartesian_limits.yaml";
 
class SRDFConfig : public SetupConfig
{
public:
  void onInit() override;
 
  bool isConfigured() const override
  {
    return robot_model_ != nullptr;
  }
 
  void loadPrevious(const std::filesystem::path& package_path, const YAML::Node& node) override;
  YAML::Node saveToYaml() const override;
 
  void loadSRDFFile(const std::filesystem::path& package_path, const std::filesystem::path& relative_path);
  void loadSRDFFile(const std::filesystem::path& srdf_file_path,
                    const std::vector<std::string>& xacro_args = std::vector<std::string>());
 
  moveit::core::RobotModelPtr getRobotModel() const
  {
    return robot_model_;
  }
 
  planning_scene::PlanningScenePtr getPlanningScene();
 
  void updateRobotModel(long changed_information = 0L);
 
  std::vector<std::string> getLinkNames() const;
 
  void clearCollisionData()
  {
    srdf_.no_default_collision_links_.clear();
    srdf_.enabled_collision_pairs_.clear();
    srdf_.disabled_collision_pairs_.clear();
  }
 
  std::vector<srdf::Model::CollisionPair>& getDisabledCollisions()
  {
    return srdf_.disabled_collision_pairs_;
  }
 
  std::vector<srdf::Model::EndEffector>& getEndEffectors()
  {
    return srdf_.end_effectors_;
  }
 
  std::vector<srdf::Model::Group>& getGroups()
  {
    return srdf_.groups_;
  }
 
  std::vector<std::string> getGroupNames() const
  {
    std::vector<std::string> group_names;
    group_names.reserve(srdf_.groups_.size());
    for (const srdf::Model::Group& group : srdf_.groups_)
    {
      group_names.push_back(group.name_);
    }
    return group_names;
  }
 
  std::vector<srdf::Model::GroupState>& getGroupStates()
  {
    return srdf_.group_states_;
  }
 
  std::vector<srdf::Model::VirtualJoint>& getVirtualJoints()
  {
    return srdf_.virtual_joints_;
  }
 
  std::vector<srdf::Model::PassiveJoint>& getPassiveJoints()
  {
    return srdf_.passive_joints_;
  }
 
  std::string getChildOfJoint(const std::string& joint_name) const;
 
  void removePoseByName(const std::string& pose_name, const std::string& group_name);
 
  std::vector<std::string> getJointNames(const std::string& group_name, bool include_multi_dof = true,
                                         bool include_passive = true);
 
  class GeneratedSRDF : public GeneratedFile
  {
  public:
    GeneratedSRDF(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time, SRDFConfig& parent)
      : GeneratedFile(package_path, last_gen_time), parent_(parent)
    {
    }
 
    std::filesystem::path getRelativePath() const override
    {
      return parent_.srdf_pkg_relative_path_;
    }
 
    std::string getDescription() const override
    {
      return "SRDF (<a href='http://www.ros.org/wiki/srdf'>Semantic Robot Description Format</a>) is a "
             "representation of semantic information about robots. This format is intended to represent "
             "information about the robot that is not in the URDF file, but it is useful for a variety of "
             "applications. The intention is to include information that has a semantic aspect to it.";
    }
 
    bool hasChanges() const override
    {
      return parent_.changes_ > 0;
    }
 
    bool write() override
    {
      std::filesystem::path path = getPath();
      createParentFolders(path);
      return parent_.write(path);
    }
 
  protected:
    SRDFConfig& parent_;
  };
 
  class GeneratedJointLimits : public YamlGeneratedFile
  {
  public:
    GeneratedJointLimits(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
                         SRDFConfig& parent)
      : YamlGeneratedFile(package_path, last_gen_time), parent_(parent)
    {
    }
 
    std::filesystem::path getRelativePath() const override
    {
      return JOINT_LIMITS_FILE;
    }
 
    std::string getDescription() const override
    {
      return "Contains additional information about joints that appear in your planning groups that is not "
             "contained in the URDF, as well as allowing you to set maximum and minimum limits for velocity "
             "and acceleration than those contained in your URDF. This information is used by our trajectory "
             "filtering system to assign reasonable velocities and timing for the trajectory before it is "
             "passed to the robot's controllers.";
    }
 
    bool hasChanges() const override
    {
      return false;  // Can't be changed just yet
    }
 
    bool writeYaml(YAML::Emitter& emitter) override;
 
  protected:
    SRDFConfig& parent_;
  };
 
  class GeneratedCartesianLimits : public TemplatedGeneratedFile
  {
  public:
    using TemplatedGeneratedFile::TemplatedGeneratedFile;
 
    std::filesystem::path getRelativePath() const override
    {
      return CARTESIAN_LIMITS_FILE;
    }
 
    std::filesystem::path getTemplatePath() const override
    {
      return getSharePath("moveit_setup_framework") / "templates" / CARTESIAN_LIMITS_FILE;
    }
 
    std::string getDescription() const override
    {
      return "Cartesian velocity for planning in the workspace."
             "The velocity is used by pilz industrial motion planner as maximum velocity for cartesian "
             "planning requests scaled by the velocity scaling factor of an individual planning request.";
    }
 
    bool hasChanges() const override
    {
      return false;
    }
  };
 
  void collectFiles(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
                    std::vector<GeneratedFilePtr>& files) override
  {
    files.push_back(std::make_shared<GeneratedSRDF>(package_path, last_gen_time, *this));
    files.push_back(std::make_shared<GeneratedJointLimits>(package_path, last_gen_time, *this));
    files.push_back(std::make_shared<GeneratedCartesianLimits>(package_path, last_gen_time));
  }
 
  void collectVariables(std::vector<TemplateVariable>& variables) override;
 
  bool write(const std::filesystem::path& path)
  {
    return srdf_.writeSRDF(path);
  }
 
  std::filesystem::path getPath() const
  {
    return srdf_path_;
  }
 
  unsigned long getChangeMask() const
  {
    return changes_;
  }
 
protected:
  void getRelativePath();
  void loadURDFModel();
 
  // ******************************************************************************************
  // SRDF Data
  // ******************************************************************************************
  std::filesystem::path srdf_path_;
 
  std::filesystem::path srdf_pkg_relative_path_;
 
  srdf::SRDFWriter srdf_;
 
  std::shared_ptr<urdf::Model> urdf_model_;
 
  moveit::core::RobotModelPtr robot_model_;
 
  planning_scene::PlanningScenePtr planning_scene_;
 
  // bitfield of changes (composed of InformationFields)
  unsigned long changes_;
};
}  // namespace moveit_setup