fetch_trajopt.cpp

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/* Author: Carlos Quintero Pena */
 
#include <robowflex_library/builder.h>
#include <robowflex_library/detail/fetch.h>
#include <robowflex_library/planning.h>
#include <robowflex_library/robot.h>
#include <robowflex_library/scene.h>
#include <robowflex_library/trajectory.h>
#include <robowflex_library/util.h>
#include <robowflex_tesseract/trajopt_planner.h>
 
using namespace robowflex;
 
/* \file fetch_trajopt.cpp
 * A basic script that demonstrates using Tesseract's TrajOpt planner. The
 * resulting trajectory is output to a YAML file. This file can be visualized
 * using Blender. See the corresponding robowflex_visualization readme.
 */
 
static const std::string GROUP = "arm";
 
int main(int argc, char **argv)
{
    // Startup ROS
    ROS ros(argc, argv);
 
    // Create the default Fetch robot.
    auto fetch = std::make_shared<FetchRobot>();
    fetch->initialize(false);
 
    // Create an empty scene.
    auto scene = std::make_shared<Scene>(fetch);
 
    // Create a TrajOpt planner for Fetch.
    auto planner = std::make_shared<TrajOptPlanner>(fetch, GROUP);
    planner->initialize("torso_lift_link", "gripper_link");
    planner->options.num_waypoints = 3;
 
    // Create a motion planning request with a pose goal.
    MotionRequestBuilder request(planner, GROUP);
    fetch->setGroupState(GROUP, {0.201, 1.281, -2.272, 2.243, -2.774, 0.976, -2.007});
    request.setStartConfiguration(fetch->getScratchState());
 
    fetch->setGroupState(GROUP, {1.301, 1.281, -2.272, 2.243, -2.774, 0.976, -2.007});
    request.setGoalConfiguration(fetch->getScratchState());
 
    // Do motion planning!
    planning_interface::MotionPlanResponse res = planner->plan(scene, request.getRequest());
    if (res.error_code_.val != moveit_msgs::MoveItErrorCodes::SUCCESS)
        return 1;
 
    // Create a trajectory object for better manipulation.
    auto trajectory = std::make_shared<Trajectory>(res.trajectory_);
 
    // Output path to a file for visualization.
    trajectory->toYAMLFile("fetch_trajopt_path.yml");
 
    return 0;
}