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73 changes: 73 additions & 0 deletions
73
kuka_driver_examples/eci_demo/src/MoveitCollisionAvoidanceExample.cpp
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| // Copyright 2022 Áron Svastits | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
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| #include <math.h> | ||
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| #include <kuka_driver_interfaces/msg/collision_box.hpp> | ||
| #include <memory> | ||
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| #include "moveit_example.h" | ||
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| int main(int argc, char * argv[]) | ||
| { | ||
| // Setup | ||
| // Initialize ROS and create the Node | ||
| rclcpp::init(argc, argv); | ||
| auto const example_node = std::make_shared<MoveitExample>(); | ||
| rclcpp::executors::SingleThreadedExecutor executor; | ||
| executor.add_node(example_node); | ||
| std::thread( | ||
| [&executor]() | ||
| {executor.spin();}) | ||
| .detach(); | ||
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| example_node->initialize(); | ||
| example_node->addBreakPoint(); | ||
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| // Add robot platform | ||
| example_node->addRobotPlatform(); | ||
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| // Add collision object | ||
| kuka_driver_interfaces::msg::CollisionBox box_msg; | ||
| box_msg.position.x = 0.25; | ||
| box_msg.position.y = -0.075; | ||
| box_msg.position.z = 0.675; | ||
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| box_msg.size.x = 0.1; | ||
| box_msg.size.y = 0.4; | ||
| box_msg.size.z = 0.1; | ||
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| example_node->addCollisionBox(std::make_shared<kuka_driver_interfaces::msg::CollisionBox>(box_msg)); | ||
| example_node->addBreakPoint(); | ||
|
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| auto standing_pose = Eigen::Isometry3d( | ||
| Eigen::Translation3d( | ||
| 0.1, 0, | ||
| 0.8) * | ||
| Eigen::Quaterniond::Identity()); | ||
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| // Plan with collision avoidance | ||
| auto planned_trajectory = example_node->planToPoint( | ||
| standing_pose, "ompl", | ||
| "RRTConnectkConfigDefault"); | ||
| if (planned_trajectory != nullptr) { | ||
| example_node->drawTrajectory(*planned_trajectory); | ||
| example_node->addBreakPoint(); | ||
| example_node->moveGroupInterface()->execute(*planned_trajectory); | ||
| } | ||
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| // Shutdown ROS | ||
| rclcpp::shutdown(); | ||
| return 0; | ||
| } |
79 changes: 79 additions & 0 deletions
79
kuka_driver_examples/eci_demo/src/MoveitConstrainedPlanningExample.cpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,79 @@ | ||
| // Copyright 2022 Áron Svastits | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
||
| #include <math.h> | ||
|
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| #include <kuka_driver_interfaces/msg/collision_box.hpp> | ||
| #include <memory> | ||
|
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| #include "moveit_example.h" | ||
|
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| int main(int argc, char * argv[]) | ||
| { | ||
| // Setup | ||
| // Initialize ROS and create the Node | ||
| rclcpp::init(argc, argv); | ||
| auto const example_node = std::make_shared<MoveitExample>(); | ||
| rclcpp::executors::SingleThreadedExecutor executor; | ||
| executor.add_node(example_node); | ||
| std::thread( | ||
| [&executor]() | ||
| {executor.spin();}) | ||
| .detach(); | ||
|
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| example_node->initialize(); | ||
| example_node->addBreakPoint(); | ||
|
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| // Add robot platform | ||
| example_node->addRobotPlatform(); | ||
|
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| // Add collision object | ||
| kuka_driver_interfaces::msg::CollisionBox box_msg; | ||
| box_msg.position.x = 0.25; | ||
| box_msg.position.y = -0.075; | ||
| box_msg.position.z = 0.675; | ||
|
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| box_msg.size.x = 0.1; | ||
| box_msg.size.y = 0.4; | ||
| box_msg.size.z = 0.1; | ||
|
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| example_node->addCollisionBox(std::make_shared<kuka_driver_interfaces::msg::CollisionBox>(box_msg)); | ||
| example_node->addBreakPoint(); | ||
|
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| auto cart_goal = Eigen::Isometry3d( | ||
| Eigen::Translation3d( | ||
| 0.4, -0.15, | ||
| 0.55) * | ||
| Eigen::Quaterniond::Identity()); | ||
|
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| geometry_msgs::msg::Quaternion q; | ||
| q.x = 0; | ||
| q.y = 0; | ||
| q.z = 0; | ||
| q.w = 1; | ||
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| example_node->setOrientationConstraint(q); | ||
| // Plan with collision avoidance | ||
| auto planned_trajectory = | ||
| example_node->planToPoint(cart_goal, "ompl", "RRTConnectkConfigDefault"); | ||
| if (planned_trajectory != nullptr) { | ||
| example_node->drawTrajectory(*planned_trajectory); | ||
| example_node->addBreakPoint(); | ||
| example_node->moveGroupInterface()->execute(*planned_trajectory); | ||
| } | ||
|
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| // Shutdown ROS | ||
| rclcpp::shutdown(); | ||
| return 0; | ||
| } |