local_planner_component.hpp

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2020, PickNik Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of PickNik Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
/* Author: Sebastian Jahr
   Description: A local planner component node that is customizable through plugins that implement the local planning
   problem solver algorithm and the trajectory matching and blending.
 */
 
#pragma once
 
#include <rclcpp/rclcpp.hpp>
#include <rclcpp_action/rclcpp_action.hpp>
 
#include <pluginlib/class_loader.hpp>
 
#include <moveit_msgs/action/local_planner.hpp>
#include <moveit_msgs/msg/motion_plan_response.hpp>
#include <moveit_msgs/msg/robot_trajectory.hpp>
 
#include <std_msgs/msg/float64.hpp>
#include <std_msgs/msg/float64_multi_array.hpp>
 
#include <trajectory_msgs/msg/joint_trajectory.hpp>
 
#include <moveit/planning_scene_monitor/planning_scene_monitor.hpp>
#include <moveit/robot_model_loader/robot_model_loader.hpp>
#include <moveit/local_planner/local_constraint_solver_interface.hpp>
#include <moveit/local_planner/trajectory_operator_interface.hpp>
 
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
 
// Forward declaration of parameter class allows users to implement custom parameters
namespace local_planner_parameters
{
MOVEIT_STRUCT_FORWARD(Params);
}
namespace moveit::hybrid_planning
{
enum class LocalPlannerState : int8_t
{
  ABORT = -1,
  ERROR = 0,
  UNCONFIGURED = 1,
  AWAIT_GLOBAL_TRAJECTORY = 2,
  LOCAL_PLANNING_ACTIVE = 3
};
 
class LocalPlannerComponent
{
public:
  LocalPlannerComponent(const rclcpp::NodeOptions& options);
 
  ~LocalPlannerComponent()
  {
    // Join the thread used for long-running callbacks
    if (long_callback_thread_.joinable())
    {
      long_callback_thread_.join();
    }
  }
 
  bool initialize();
 
  void executeIteration();
 
  // This function is required to make this class a valid NodeClass
  // see https://docs.ros2.org/foxy/api/rclcpp_components/register__node__macro_8hpp.html
  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr get_node_base_interface()  // NOLINT
  {
    return node_->get_node_base_interface();  // NOLINT
  }
 
private:
  void reset();
 
  std::shared_ptr<rclcpp::Node> node_;
 
  // Planner configuration
  std::shared_ptr<local_planner_parameters::Params> config_;
 
  // Current planner state. Must be thread-safe
  std::atomic<LocalPlannerState> state_;
 
  // Timer to periodically call executeIteration()
  rclcpp::TimerBase::SharedPtr timer_;
 
  // Latest action goal handle
  std::shared_ptr<rclcpp_action::ServerGoalHandle<moveit_msgs::action::LocalPlanner>> local_planning_goal_handle_;
 
  // Local planner feedback
  std::shared_ptr<moveit_msgs::action::LocalPlanner::Feedback> local_planner_feedback_;
 
  // Planning scene monitor to get the current planning scene
  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
 
  // TF
  std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
  std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
 
  // Global solution listener
  rclcpp::Subscription<moveit_msgs::msg::MotionPlanResponse>::SharedPtr global_solution_subscriber_;
 
  // Local planning request action server
  rclcpp_action::Server<moveit_msgs::action::LocalPlanner>::SharedPtr local_planning_request_server_;
 
  // Local solution publisher
  rclcpp::Publisher<trajectory_msgs::msg::JointTrajectory>::SharedPtr local_trajectory_publisher_;
  rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr local_solution_publisher_;
 
  // Local constraint solver plugin loader
  std::unique_ptr<pluginlib::ClassLoader<LocalConstraintSolverInterface>> local_constraint_solver_plugin_loader_;
 
  // Local constrain solver instance to compute a local solution each iteration
  std::shared_ptr<LocalConstraintSolverInterface> local_constraint_solver_instance_;
 
  // Trajectory operator plugin
  std::unique_ptr<pluginlib::ClassLoader<TrajectoryOperatorInterface>> trajectory_operator_loader_;
 
  // Trajectory_operator instance handle trajectory matching and blending
  std::shared_ptr<TrajectoryOperatorInterface> trajectory_operator_instance_;
 
  // This thread is used for long-running callbacks. It's a member so they do not go out of scope.
  std::thread long_callback_thread_;
 
  // A unique callback group, to avoid mixing callbacks with other action servers
  rclcpp::CallbackGroup::SharedPtr cb_group_;
};
}  // namespace moveit::hybrid_planning