pick_place_tutorial.cpp

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/* Author: Ioan Sucan, Ridhwan Luthra*/

// ROS
#include <ros/ros.h>

// MoveIt!
#include <moveit/planning_scene_interface/planning_scene_interface.h>
#include <moveit/move_group_interface/move_group_interface.h>

// TF2
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>

void openGripper(trajectory_msgs::JointTrajectory& posture)
{
  // BEGIN_SUB_TUTORIAL open_gripper
  /* Add both finger joints of panda robot. */
  posture.joint_names.resize(2);
  posture.joint_names[0] = "panda_finger_joint1";
  posture.joint_names[1] = "panda_finger_joint2";

  /* Set them as open, wide enough for the object to fit. */
  posture.points.resize(1);
  posture.points[0].positions.resize(2);
  posture.points[0].positions[0] = 0.04;
  posture.points[0].positions[1] = 0.04;
  posture.points[0].time_from_start = ros::Duration(0.5);
  // END_SUB_TUTORIAL
}

void closedGripper(trajectory_msgs::JointTrajectory& posture)
{
  // BEGIN_SUB_TUTORIAL closed_gripper
  /* Add both finger joints of panda robot. */
  posture.joint_names.resize(2);
  posture.joint_names[0] = "panda_finger_joint1";
  posture.joint_names[1] = "panda_finger_joint2";

  /* Set them as closed. */
  posture.points.resize(1);
  posture.points[0].positions.resize(2);
  posture.points[0].positions[0] = 0.00;
  posture.points[0].positions[1] = 0.00;
  posture.points[0].time_from_start = ros::Duration(0.5);
  // END_SUB_TUTORIAL
}

void pick(moveit::planning_interface::MoveGroupInterface& move_group)
{
  // BEGIN_SUB_TUTORIAL pick1
  // Create a vector of grasps to be attempted, currently only creating single grasp.
  // This is essentially useful when using a grasp generator to generate and test multiple grasps.
  std::vector<moveit_msgs::Grasp> grasps;
  grasps.resize(1);

  // Setting grasp pose
  // ++++++++++++++++++++++
  // This is the pose of panda_link8. |br|
  // From panda_link8 to the palm of the eef the distance is 0.058, the cube starts 0.01 before 5.0 (half of the length
  // of the cube). |br|
  // Therefore, the position for panda_link8 = 5 - (length of cube/2 - distance b/w panda_link8 and palm of eef - some
  // extra padding)
  grasps[0].grasp_pose.header.frame_id = "panda_link0";
  tf2::Quaternion orientation;
  orientation.setRPY(-M_PI / 2, -M_PI / 4, -M_PI / 2);
  grasps[0].grasp_pose.pose.orientation = tf2::toMsg(orientation);
  grasps[0].grasp_pose.pose.position.x = 0.34;
  grasps[0].grasp_pose.pose.position.y = -0.32;
  grasps[0].grasp_pose.pose.position.z = 0.17;

  // Setting pre-grasp approach
  // ++++++++++++++++++++++++++
  /* Defined with respect to frame_id */
  grasps[0].pre_grasp_approach.direction.header.frame_id = "panda_link0";
  /* Direction is set as positive x axis */
  grasps[0].pre_grasp_approach.direction.vector.z = 1.0;
  grasps[0].pre_grasp_approach.min_distance = 0.1;
  grasps[0].pre_grasp_approach.desired_distance = 0.115;

  // Setting post-grasp retreat
  // ++++++++++++++++++++++++++
  /* Defined with respect to frame_id */
  grasps[0].post_grasp_retreat.direction.header.frame_id = "panda_link0";
  /* Direction is set as positive z axis */
  grasps[0].post_grasp_retreat.direction.vector.z = 1.0;
  grasps[0].post_grasp_retreat.min_distance = 0.1;
  grasps[0].post_grasp_retreat.desired_distance = 0.35;

  // Setting posture of eef before grasp
  // +++++++++++++++++++++++++++++++++++
  openGripper(grasps[0].pre_grasp_posture);
  // END_SUB_TUTORIAL

  // BEGIN_SUB_TUTORIAL pick2
  // Setting posture of eef during grasp
  // +++++++++++++++++++++++++++++++++++
  closedGripper(grasps[0].grasp_posture);
  // END_SUB_TUTORIAL

  // BEGIN_SUB_TUTORIAL pick3
  // Set support surface as table1.
  // move_group.setSupportSurfaceName("table1");
  // Call pick to pick up the object using the grasps given
  move_group.pick("brick1", grasps);
  // END_SUB_TUTORIAL
}

void place(moveit::planning_interface::MoveGroupInterface& group)
{
  // BEGIN_SUB_TUTORIAL place
  // TODO(@ridhwanluthra) - Calling place function may lead to "All supplied place locations failed. Retrying last
  // location in
  // verbose mode." This is a known issue and we are working on fixing it. |br|
  // Create a vector of placings to be attempted, currently only creating single place location.
  std::vector<moveit_msgs::PlaceLocation> place_location;
  place_location.resize(1);

  // Setting place location pose
  // +++++++++++++++++++++++++++
  place_location[0].place_pose.header.frame_id = "panda_link0";
  tf2::Quaternion orientation;
  orientation.setRPY(0, 0, M_PI / 2);
  place_location[0].place_pose.pose.orientation = tf2::toMsg(orientation);

  /* While placing it is the exact location of the center of the object. */
  place_location[0].place_pose.pose.position.x = -0.5;
  place_location[0].place_pose.pose.position.y = 0;
  place_location[0].place_pose.pose.position.z = 0.17;

  // Setting pre-place approach
  // ++++++++++++++++++++++++++
  /* Defined with respect to frame_id */
  place_location[0].pre_place_approach.direction.header.frame_id = "panda_link0";
  /* Direction is set as negative z axis */
  place_location[0].pre_place_approach.direction.vector.z = -1.0;
  place_location[0].pre_place_approach.min_distance = 0.095;
  place_location[0].pre_place_approach.desired_distance = 0.115;

  // Setting post-grasp retreat
  // ++++++++++++++++++++++++++
  /* Defined with respect to frame_id */
  place_location[0].post_place_retreat.direction.header.frame_id = "panda_link0";
  /* Direction is set as negative y axis */
  place_location[0].post_place_retreat.direction.vector.z = -1.0;
  place_location[0].post_place_retreat.min_distance = 0.1;
  place_location[0].post_place_retreat.desired_distance = 0.25;

  // Setting posture of eef after placing object
  // +++++++++++++++++++++++++++++++++++++++++++
  /* Similar to the pick case */
  openGripper(place_location[0].post_place_posture);

  // Set support surface as table2.
  group.setSupportSurfaceName("table2");
  // Call place to place the object using the place locations given.
  group.place("brick1", place_location);
  // END_SUB_TUTORIAL
}

void addBricks(moveit::planning_interface::PlanningSceneInterface& planning_scene_interface)
{
  // BEGIN_SUB_TUTORIAL table1
  //
  // Creating Environment
  // ^^^^^^^^^^^^^^^^^^^^
  // Create vector to hold 3 collision objects.
  std::vector<moveit_msgs::CollisionObject> collision_objects;
  collision_objects.resize(16);

  collision_objects[0].id = "brick1";
  collision_objects[0].header.frame_id = "panda_link0";
  /* Define the primitive and its dimensions. */
  collision_objects[0].primitives.resize(1);
  collision_objects[0].primitives[0].type = collision_objects[0].primitives[0].BOX;
  collision_objects[0].primitives[0].dimensions.resize(3);
  collision_objects[0].primitives[0].dimensions[0] = 0.09;
  collision_objects[0].primitives[0].dimensions[1] = 0.06;
  collision_objects[0].primitives[0].dimensions[2] = 0.2;
  /* Define the pose of the table. */
  collision_objects[0].primitive_poses.resize(1);
  collision_objects[0].primitive_poses[0].position.x = 0.34;
  collision_objects[0].primitive_poses[0].position.y = -0.32;
  collision_objects[0].primitive_poses[0].position.z = 0;
  collision_objects[0].operation = collision_objects[0].ADD;

  collision_objects[1].id = "brick2";
  collision_objects[1].header.frame_id = "panda_link0";
  /* Define the primitive and its dimensions. */
  collision_objects[1].primitives.resize(1);
  collision_objects[1].primitives[0].type = collision_objects[0].primitives[0].BOX;
  collision_objects[1].primitives[0].dimensions.resize(3);
  collision_objects[1].primitives[0].dimensions[0] = 0.09;
  collision_objects[1].primitives[0].dimensions[1] = 0.06;
  collision_objects[1].primitives[0].dimensions[2] = 0.2;
  /* Define the pose of the table. */
  collision_objects[1].primitive_poses.resize(1);
  collision_objects[1].primitive_poses[0].position.x = 0.17;
  collision_objects[1].primitive_poses[0].position.y = -0.32;
  collision_objects[1].primitive_poses[0].position.z = 0;
  collision_objects[1].operation = collision_objects[0].ADD;

  collision_objects[2].id = "brick3";
  collision_objects[2].header.frame_id = "panda_link0";
  /* Define the primitive and its dimensions. */
  collision_objects[2].primitives.resize(1);
  collision_objects[2].primitives[0].type = collision_objects[0].primitives[0].BOX;
  collision_objects[2].primitives[0].dimensions.resize(3);
  collision_objects[2].primitives[0].dimensions[0] = 0.09;
  collision_objects[2].primitives[0].dimensions[1] = 0.06;
  collision_objects[2].primitives[0].dimensions[2] = 0.2;
  /* Define the pose of the table. */
  collision_objects[2].primitive_poses.resize(1);
  collision_objects[2].primitive_poses[0].position.x = 0;
  collision_objects[2].primitive_poses[0].position.y = -0.32;
  collision_objects[2].primitive_poses[0].position.z = 0;
  collision_objects[2].operation = collision_objects[0].ADD;

  collision_objects[3].id = "brick4";
  collision_objects[3].header.frame_id = "panda_link0";
  /* Define the primitive and its dimensions. */
  collision_objects[3].primitives.resize(1);
  collision_objects[3].primitives[0].type = collision_objects[0].primitives[0].BOX;
  collision_objects[3].primitives[0].dimensions.resize(3);
  collision_objects[3].primitives[0].dimensions[0] = 0.09;
  collision_objects[3].primitives[0].dimensions[1] = 0.06;
  collision_objects[3].primitives[0].dimensions[2] = 0.2;
  /* Define the pose of the table. */
  collision_objects[3].primitive_poses.resize(1);
  collision_objects[3].primitive_poses[0].position.x = -0.17;
  collision_objects[3].primitive_poses[0].position.y = -0.32;
  collision_objects[3].primitive_poses[0].position.z = 0;
  collision_objects[3].operation = collision_objects[0].ADD;

  collision_objects[4].id = "brick5";
  collision_objects[4].header.frame_id = "panda_link0";
  /* Define the primitive and its dimensions. */
  collision_objects[4].primitives.resize(1);
  collision_objects[4].primitives[0].type = collision_objects[0].primitives[0].BOX;
  collision_objects[4].primitives[0].dimensions.resize(3);
  collision_objects[4].primitives[0].dimensions[0] = 0.09;
  collision_objects[4].primitives[0].dimensions[1] = 0.06;
  collision_objects[4].primitives[0].dimensions[2] = 0.2;
  /* Define the pose of the table. */
  collision_objects[4].primitive_poses.resize(1);
  collision_objects[4].primitive_poses[0].position.x = -0.17;
  collision_objects[4].primitive_poses[0].position.y = -0.32;
  collision_objects[4].primitive_poses[0].position.z = 0;
  collision_objects[4].operation = collision_objects[0].ADD;

  planning_scene_interface.applyCollisionObjects(collision_objects);
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "panda_arm_pick_place");
  ros::NodeHandle nh;
  ros::AsyncSpinner spinner(1);
  spinner.start();

  ros::WallDuration(1.0).sleep();
  moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
  moveit::planning_interface::MoveGroupInterface group("panda_arm");
  group.setPlanningTime(45.0);

  addBricks(planning_scene_interface);
  // Wait a bit for ROS things to initialize
  ros::WallDuration(1.0).sleep();

  pick(group);

  ros::WallDuration(1.0).sleep();

  place(group);

  ros::waitForShutdown();
  return 0;
}

// BEGIN_TUTORIAL
// CALL_SUB_TUTORIAL table1
// CALL_SUB_TUTORIAL table2
// CALL_SUB_TUTORIAL object
//
// Pick Pipeline
// ^^^^^^^^^^^^^
// CALL_SUB_TUTORIAL pick1
// openGripper function
// """"""""""""""""""""
// CALL_SUB_TUTORIAL open_gripper
// CALL_SUB_TUTORIAL pick2
// closedGripper function
// """"""""""""""""""""""
// CALL_SUB_TUTORIAL closed_gripper
// CALL_SUB_TUTORIAL pick3
//
// Place Pipeline
// ^^^^^^^^^^^^^^
// CALL_SUB_TUTORIAL place
// END_TUTORIAL