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Remove template paramete to action base class
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The action base class can only be used with the action msg
GraspPlanning.action from grasping_msgs.
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@bostoncleek
bostoncleek committed Apr 30, 2021
1 parent 5f08002 commit ae17d5c
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Showing 10 changed files with 301 additions and 261 deletions.
3 changes: 3 additions & 0 deletions core/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@ find_package(catkin REQUIRED COMPONENTS
actionlib
eigen_conversions
geometry_msgs
grasping_msgs
moveit_core
moveit_ros_planning
moveit_ros_planning_interface
Expand All @@ -22,7 +23,9 @@ catkin_package(
INCLUDE_DIRS
include
CATKIN_DEPENDS
actionlib
geometry_msgs
grasping_msgs
moveit_core
moveit_task_constructor_msgs
rviz_marker_tools
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37 changes: 6 additions & 31 deletions core/include/moveit/task_constructor/stages/action_base.h
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Expand Up @@ -41,23 +41,15 @@
#include <limits>

#include <actionlib/client/simple_action_client.h>
#include <grasping_msgs/GraspPlanningAction.h>

namespace moveit {
namespace task_constructor {
namespace stages {

/**
* @brief Interface allowing stages to use a simple action client
* @param ActionSpec - action message (action message name + "ACTION")
* @details Some stages may require an action client. This class wraps the
* simple client action interface and exposes event based execution callbacks.
*/
template <class ActionSpec>
/** @brief Interface allowing stages to use a simple action client */
class ActionBase
{
protected:
ACTION_DEFINITION(ActionSpec);

public:
/**
* @brief Constructor
Expand Down Expand Up @@ -87,39 +79,22 @@ class ActionBase
* @brief Called every time feedback is received for the goal
* @param feedback - pointer to the feedback message
*/
virtual void feedbackCallback(const FeedbackConstPtr& feedback) = 0;
virtual void feedbackCallback(const grasping_msgs::GraspPlanningFeedbackConstPtr& feedback) = 0;

/**
* @brief Called once when the goal completes
* @param state - state info for goal
* @param result - pointer to result message
*/
virtual void doneCallback(const actionlib::SimpleClientGoalState& state, const ResultConstPtr& result) = 0;
virtual void doneCallback(const actionlib::SimpleClientGoalState& state,
const grasping_msgs::GraspPlanningResultConstPtr& result) = 0;

protected:
ros::NodeHandle nh_;
std::string action_name_; // action name space
std::unique_ptr<actionlib::SimpleActionClient<ActionSpec>> clientPtr_; // action client
std::unique_ptr<actionlib::SimpleActionClient<grasping_msgs::GraspPlanningAction>> clientPtr_; // action client
double server_timeout_, goal_timeout_; // connection and goal completed time out
};

template <class ActionSpec>
ActionBase<ActionSpec>::ActionBase(const std::string& action_name, bool spin_thread, double goal_timeout,
double server_timeout)
: action_name_(action_name), server_timeout_(server_timeout), goal_timeout_(goal_timeout) {
clientPtr_.reset(new actionlib::SimpleActionClient<ActionSpec>(nh_, action_name_, spin_thread));

// Negative timeouts are set to zero
server_timeout_ = server_timeout_ < std::numeric_limits<double>::epsilon() ? 0.0 : server_timeout_;
goal_timeout_ = goal_timeout_ < std::numeric_limits<double>::epsilon() ? 0.0 : goal_timeout_;
}

template <class ActionSpec>
ActionBase<ActionSpec>::ActionBase(const std::string& action_name, bool spin_thread)
: action_name_(action_name), server_timeout_(0.0), goal_timeout_(0.0) {
clientPtr_.reset(new actionlib::SimpleActionClient<ActionSpec>(nh_, action_name_, spin_thread));
}

} // namespace stages
} // namespace task_constructor
} // namespace moveit
209 changes: 10 additions & 199 deletions core/include/moveit/task_constructor/stages/grasp_provider.h
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,8 @@
#pragma once

#include <functional>
#include <mutex>

#include <moveit/task_constructor/stages/generate_pose.h>
#include <moveit/task_constructor/stages/action_base.h>
#include <moveit/task_constructor/storage.h>
Expand All @@ -48,20 +50,9 @@ namespace moveit {
namespace task_constructor {
namespace stages {

constexpr char LOGNAME[] = "grasp_provider";

/**
* @brief Generate grasp candidates using deep learning approaches
* @param ActionSpec - action message (action message name + "ACTION")
* @details Interfaces with a deep learning based grasp library using a action client
*/
template <class ActionSpec>
class GraspProvider : public GeneratePose, ActionBase<ActionSpec>
/** @brief Generate grasp candidates using deep learning approaches */
class GraspProvider : public GeneratePose, ActionBase
{
private:
typedef ActionBase<ActionSpec> ActionBaseT;
ACTION_DEFINITION(ActionSpec);

public:
/**
* @brief Constructor
Expand All @@ -71,7 +62,7 @@ class GraspProvider : public GeneratePose, ActionBase<ActionSpec>
* @param server_timeout - connection to server time out (0 is considered infinite timeout)
* @details Initialize the client and connect to server
*/
GraspProvider(const std::string& action_name, const std::string& stage_name = "generate grasp pose",
GraspProvider(const std::string& action_name, const std::string& stage_name = "grasp provider",
double goal_timeout = 0.0, double server_timeout = 0.0);

/**
Expand All @@ -88,8 +79,9 @@ class GraspProvider : public GeneratePose, ActionBase<ActionSpec>
bool monitorGoal();

void activeCallback() override;
void feedbackCallback(const FeedbackConstPtr& feedback) override;
void doneCallback(const actionlib::SimpleClientGoalState& state, const ResultConstPtr& result) override;
void feedbackCallback(const grasping_msgs::GraspPlanningFeedbackConstPtr& feedback) override;
void doneCallback(const actionlib::SimpleClientGoalState& state,
const grasping_msgs::GraspPlanningResultConstPtr& result) override;

void init(const core::RobotModelConstPtr& robot_model) override;
void compute() override;
Expand All @@ -106,191 +98,10 @@ class GraspProvider : public GeneratePose, ActionBase<ActionSpec>
void onNewSolution(const SolutionBase& s) override;

private:
std::mutex grasp_mutex_;
bool found_candidates_;
std::vector<geometry_msgs::PoseStamped> grasp_candidates_;
std::vector<double> costs_;
std::vector<moveit_msgs::Grasp> grasp_candidates_;
};

template <class ActionSpec>
GraspProvider<ActionSpec>::GraspProvider(const std::string& action_name, const std::string& stage_name,
double goal_timeout, double server_timeout)
: GeneratePose(stage_name), ActionBaseT(action_name, false, goal_timeout, server_timeout), found_candidates_(false) {
auto& p = properties();
p.declare<std::string>("eef", "name of end-effector");
p.declare<std::string>("object");
p.declare<boost::any>("pregrasp", "pregrasp posture");
p.declare<boost::any>("grasp", "grasp posture");

ROS_INFO_NAMED(LOGNAME, "Waiting for connection to grasp generation action server...");
ActionBaseT::clientPtr_->waitForServer(ros::Duration(ActionBaseT::server_timeout_));
ROS_INFO_NAMED(LOGNAME, "Connected to server");
}

template <class ActionSpec>
void GraspProvider<ActionSpec>::composeGoal() {
Goal goal;
goal.action_name = ActionBaseT::action_name_;
ActionBaseT::clientPtr_->sendGoal(
goal, std::bind(&GraspProvider<ActionSpec>::doneCallback, this, std::placeholders::_1, std::placeholders::_2),
std::bind(&GraspProvider<ActionSpec>::activeCallback, this),
std::bind(&GraspProvider<ActionSpec>::feedbackCallback, this, std::placeholders::_1));

ROS_INFO_NAMED(LOGNAME, "Goal sent to server: %s", ActionBaseT::action_name_.c_str());
}

template <class ActionSpec>
bool GraspProvider<ActionSpec>::monitorGoal() {
// monitor timeout
const bool monitor_timeout = ActionBaseT::goal_timeout_ > std::numeric_limits<double>::epsilon() ? true : false;
const double timeout_time = ros::Time::now().toSec() + ActionBaseT::goal_timeout_;

while (ActionBaseT::nh_.ok()) {
ros::spinOnce();

// timeout reached
if (ros::Time::now().toSec() > timeout_time && monitor_timeout) {
ActionBaseT::clientPtr_->cancelGoal();
ROS_ERROR_NAMED(LOGNAME, "Grasp pose generator time out reached");
return false;
} else if (found_candidates_) {
// timeout not reached (or not active) and grasps are found
// only way return true
break;
}
}

return true;
}

template <class ActionSpec>
void GraspProvider<ActionSpec>::activeCallback() {
ROS_INFO_NAMED(LOGNAME, "Generate grasp goal now active");
found_candidates_ = false;
}

template <class ActionSpec>
void GraspProvider<ActionSpec>::feedbackCallback(const FeedbackConstPtr& feedback) {
// each candidate should have a cost
if (feedback->grasp_candidates.size() != feedback->costs.size()) {
ROS_ERROR_NAMED(LOGNAME, "Invalid input: each grasp candidate needs an associated cost");
} else {
ROS_INFO_NAMED(LOGNAME, "Grasp generated feedback received %lu candidates: ", feedback->grasp_candidates.size());

grasp_candidates_.resize(feedback->grasp_candidates.size());
costs_.resize(feedback->costs.size());

grasp_candidates_ = feedback->grasp_candidates;
costs_ = feedback->costs;

found_candidates_ = true;
}
}

template <class ActionSpec>
void GraspProvider<ActionSpec>::doneCallback(const actionlib::SimpleClientGoalState& state,
const ResultConstPtr& result) {
if (state == actionlib::SimpleClientGoalState::SUCCEEDED) {
ROS_INFO_NAMED(LOGNAME, "Found grasp candidates (result): %s", result->grasp_state.c_str());
} else {
ROS_ERROR_NAMED(LOGNAME, "No grasp candidates found (state): %s",
ActionBaseT::clientPtr_->getState().toString().c_str());
}
}

template <class ActionSpec>
void GraspProvider<ActionSpec>::init(const core::RobotModelConstPtr& robot_model) {
InitStageException errors;
try {
GeneratePose::init(robot_model);
} catch (InitStageException& e) {
errors.append(e);
}

const auto& props = properties();

// check availability of object
props.get<std::string>("object");
// check availability of eef
const std::string& eef = props.get<std::string>("eef");
if (!robot_model->hasEndEffector(eef)) {
errors.push_back(*this, "unknown end effector: " + eef);
} else {
// check availability of eef pose
const moveit::core::JointModelGroup* jmg = robot_model->getEndEffector(eef);
const std::string& name = props.get<std::string>("pregrasp");
std::map<std::string, double> m;
if (!jmg->getVariableDefaultPositions(name, m)) {
errors.push_back(*this, "unknown end effector pose: " + name);
}
}

if (errors) {
throw errors;
}
}

template <class ActionSpec>
void GraspProvider<ActionSpec>::compute() {
if (upstream_solutions_.empty()) {
return;
}
planning_scene::PlanningScenePtr scene = upstream_solutions_.pop()->end()->scene()->diff();

// set end effector pose
const auto& props = properties();
const std::string& eef = props.get<std::string>("eef");
const moveit::core::JointModelGroup* jmg = scene->getRobotModel()->getEndEffector(eef);

robot_state::RobotState& robot_state = scene->getCurrentStateNonConst();
robot_state.setToDefaultValues(jmg, props.get<std::string>("pregrasp"));

// compose/send goal
composeGoal();

// monitor feedback/results
// blocking function untill timeout reached or results received
if (monitorGoal()) {
// ROS_WARN_NAMED(LOGNAME, "number %lu: ",grasp_candidates_.size());
for (unsigned int i = 0; i < grasp_candidates_.size(); i++) {
InterfaceState state(scene);
state.properties().set("target_pose", grasp_candidates_.at(i));
props.exposeTo(state.properties(), { "pregrasp", "grasp" });

SubTrajectory trajectory;
trajectory.setCost(costs_.at(i));
trajectory.setComment(std::to_string(i));

// add frame at target pose
rviz_marker_tools::appendFrame(trajectory.markers(), grasp_candidates_.at(i), 0.1, "grasp frame");

spawn(std::move(state), std::move(trajectory));
}
}
}

template <class ActionSpec>
void GraspProvider<ActionSpec>::onNewSolution(const SolutionBase& s) {
planning_scene::PlanningSceneConstPtr scene = s.end()->scene();

const auto& props = properties();
const std::string& object = props.get<std::string>("object");
if (!scene->knowsFrameTransform(object)) {
const std::string msg = "object '" + object + "' not in scene";
if (storeFailures()) {
InterfaceState state(scene);
SubTrajectory solution;
solution.markAsFailure();
solution.setComment(msg);
spawn(std::move(state), std::move(solution));
} else {
ROS_WARN_STREAM_NAMED(LOGNAME, msg);
}
return;
}

upstream_solutions_.push(&s);
}

} // namespace stages
} // namespace task_constructor
} // namespace moveit
1 change: 1 addition & 0 deletions core/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@

<depend>actionlib</depend>
<depend>eigen_conversions</depend>
<depend>grasping_msgs</depend>
<depend>geometry_msgs</depend>
<depend>moveit_core</depend>
<depend>moveit_ros_planning</depend>
Expand Down
5 changes: 4 additions & 1 deletion core/src/stages/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -4,12 +4,12 @@ add_library(${PROJECT_NAME}_stages

${PROJECT_INCLUDE}/stages/action_base.h
${PROJECT_INCLUDE}/stages/current_state.h
${PROJECT_INCLUDE}/stages/grasp_provider.h
${PROJECT_INCLUDE}/stages/fixed_state.h
${PROJECT_INCLUDE}/stages/fixed_cartesian_poses.h
${PROJECT_INCLUDE}/stages/generate_pose.h
${PROJECT_INCLUDE}/stages/generate_grasp_pose.h
${PROJECT_INCLUDE}/stages/generate_place_pose.h
${PROJECT_INCLUDE}/stages/grasp_provider.h
${PROJECT_INCLUDE}/stages/compute_ik.h
${PROJECT_INCLUDE}/stages/passthrough.h
${PROJECT_INCLUDE}/stages/predicate_filter.h
Expand All @@ -24,12 +24,14 @@ add_library(${PROJECT_NAME}_stages
modify_planning_scene.cpp
fix_collision_objects.cpp

action_base.cpp
current_state.cpp
fixed_state.cpp
fixed_cartesian_poses.cpp
generate_pose.cpp
generate_grasp_pose.cpp
generate_place_pose.cpp
grasp_provider.cpp
compute_ik.cpp
passthrough.cpp
predicate_filter.cpp
Expand All @@ -41,6 +43,7 @@ add_library(${PROJECT_NAME}_stages
simple_grasp.cpp
pick.cpp
)

target_link_libraries(${PROJECT_NAME}_stages ${PROJECT_NAME} ${catkin_LIBRARIES})

install(TARGETS ${PROJECT_NAME}_stages
Expand Down
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