display_motion_path.cpp

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/* Author: Ioan Sucan, Sebastian Jahr
   Desc: Response adapter to display the motion path in RVIZ by publishing as EE pose marker array via ROS topic.
*/
 
#include <moveit/planning_interface/planning_response_adapter.hpp>
#include <moveit/robot_state/conversions.hpp>
#include <class_loader/class_loader.hpp>
#include <moveit/utils/logger.hpp>
#include <moveit_msgs/msg/display_trajectory.hpp>
 
#include <default_response_adapter_parameters.hpp>
 
namespace default_planning_response_adapters
{
class DisplayMotionPath : public planning_interface::PlanningResponseAdapter
{
public:
  DisplayMotionPath() : logger_(moveit::getLogger("moveit.ros.display_motion_path"))
  {
  }
 
  void initialize(const rclcpp::Node::SharedPtr& node, const std::string& parameter_namespace) override
  {
    auto param_listener =
        std::make_unique<default_response_adapter_parameters::ParamListener>(node, parameter_namespace);
    // Read parameters
    const auto params = param_listener->get_params();
    display_path_publisher_ = node->create_publisher<moveit_msgs::msg::DisplayTrajectory>(params.display_path_topic,
                                                                                          rclcpp::SystemDefaultsQoS());
  }
 
  [[nodiscard]] std::string getDescription() const override
  {
    return std::string("DisplayMotionPath");
  }
 
  void adapt(const planning_scene::PlanningSceneConstPtr& planning_scene,
             const planning_interface::MotionPlanRequest& /* req */,
             planning_interface::MotionPlanResponse& res) const override
  {
    RCLCPP_DEBUG(logger_, " Running '%s'", getDescription().c_str());
    if (res.trajectory)
    {
      moveit_msgs::msg::DisplayTrajectory disp;
      disp.model_id = planning_scene->getRobotModel()->getName();
      disp.trajectory.resize(1);
      res.trajectory->getRobotTrajectoryMsg(disp.trajectory.at(0));
      moveit::core::robotStateToRobotStateMsg(res.trajectory->getFirstWayPoint(), disp.trajectory_start);
      display_path_publisher_->publish(disp);
    }
    else
    {
      RCLCPP_WARN(logger_, "No motion path to display in MotionPlanResponse.");
    }
  }
 
private:
  rclcpp::Logger logger_;
  rclcpp::Publisher<moveit_msgs::msg::DisplayTrajectory>::SharedPtr display_path_publisher_;
};
}  // namespace default_planning_response_adapters
 
CLASS_LOADER_REGISTER_CLASS(default_planning_response_adapters::DisplayMotionPath,
                            planning_interface::PlanningResponseAdapter)