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/* Author: Sachin Chitta, Dave Coleman, Mike Lautman */
#include <moveit/move_group_interface/move_group_interface.h>
#include <moveit/planning_scene_interface/planning_scene_interface.h>
#include <moveit_msgs/DisplayRobotState.h>
#include <moveit_msgs/DisplayTrajectory.h>
#include <moveit_msgs/AttachedCollisionObject.h>
#include <moveit_msgs/CollisionObject.h>
#include <moveit_visual_tools/moveit_visual_tools.h>
int main(int argc, char** argv)
{
ros::init(argc, argv, "move_group_interface_tutorial");
ros::NodeHandle node_handle;
ros::AsyncSpinner spinner(1);
spinner.start();
// BEGIN_TUTORIAL
//
// Setup
// ^^^^^
//
// are used interchangably.
// MoveIt! operates on sets of joints called "planning groups" and stores them in an object called
// the `JointModelGroup`. Throughout MoveIt! the terms "planning group" and "joint model group"
//MoveIt！对称为“计划组”的关节集进行操作，并将它们存储在名为JointModelGroup的对象中。整个MoveIt！术语“计划组”和“联合模型组”可互换使用。//
static const std::string PLANNING_GROUP = "panda_arm";
// The :move_group_interface:`MoveGroup` class can be easily
// setup using just the name of the planning group you would like to control and plan for.
// 该MoveGroup类可以轻松设置使用规划小组的只是名字，你想控制和规划。
moveit::planning_interface::MoveGroupInterface move_group(PLANNING_GROUP);
//我们将使用PlanningSceneInterface 类在“虚拟世界”场景中添加和删除碰撞对象
// We will use the :planning_scene_interface:`PlanningSceneInterface`
// class to add and remove collision objects in our "virtual world" scene
moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
//原始指针经常用于指代规划组以提高性能。
// Raw pointers are frequently used to refer to the planning group for improved performance.
const robot_state::JointModelGroup* joint_model_group =
move_group.getCurrentState()->getJointModelGroup(PLANNING_GROUP);
// Visualization
// ^^^^^^^^^^^^^
//MoveItVisualTools包提供了许多功能，可用于可视化RViz中的对象，机器人和轨迹以及调试工具，
// The package MoveItVisualTools provides many capabilties for visualizing objects, robots,
// and trajectories in RViz as well as debugging tools such as step-by-step introspection of a script
namespace rvt = rviz_visual_tools;
moveit_visual_tools::MoveItVisualTools visual_tools("panda_link0");
visual_tools.deleteAllMarkers();
// Remote control is an introspection tool that allows users to step through a high level script
// via buttons and keyboard shortcuts in RViz
//Remote控制是一种内省工具，允许用户通过RViz中的按钮和键盘快捷键逐步执行高级脚本
visual_tools.loadRemoteControl();
//RViz提供了许多类型的标记，在本演示中我们将使用文本，圆柱和球体
// RViz provides many types of markers, in this demo we will use text, cylinders, and spheres
Eigen::Affine3d text_pose = Eigen::Affine3d::Identity();
text_pose.translation().z() = 1.75;
visual_tools.publishText(text_pose, "MoveGroupInterface Demo", rvt::WHITE, rvt::XLARGE);
//批量发布用于减少为大型可视化发送到RViz的消息数
// Batch publishing is used to reduce the number of messages being sent to RViz for large visualizations
visual_tools.trigger();
// Getting Basic Information
// ^^^^^^^^^^^^^^^^^^^^^^^^^
//我们可以打印这个机器人的参考框架的名称。
// We can print the name of the reference frame for this robot.
ROS_INFO_NAMED("tutorial", "Reference frame: %s", move_group.getPlanningFrame().c_str());
//我们还可以打印该组的末端效应器链接的名称。
// We can also print the name of the end-effector link for this group.
ROS_INFO_NAMED("tutorial", "End effector link: %s", move_group.getEndEffectorLink().c_str());
// Start the demo
// ^^^^^^^^^^^^^^^^^^^^^^^^^
visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to start the demo");
// Planning to a Pose goal
// ^^^^^^^^^^^^^^^^^^^^^^^
//我们可以为这个组计划一个运动，使其达到最终效果器所需的姿势。
// We can plan a motion for this group to a desired pose for the
// end-effector.
geometry_msgs::Pose target_pose1;
target_pose1.orientation.w = 1.0;
target_pose1.position.x = 0.28;
target_pose1.position.y = -0.2;
target_pose1.position.z = 0.5;
move_group.setPoseTarget(target_pose1);
// Now, we call the planner to compute the plan and visualize it.
// Note that we are just planning, not asking move_group
// to actually move the robot.
//现在，我们调用规划器来计算计划并将其可视化。请注意，我们只是计划，而不是要求move_group实际移动机器人。
moveit::planning_interface::MoveGroupInterface::Plan my_plan;
bool success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
ROS_INFO_NAMED("tutorial", "Visualizing plan 1 (pose goal) %s", success ? "" : "FAILED");
// Visualizing plans
// ^^^^^^^^^^^^^^^^^
// We can also visualize the plan as a line with markers in RViz.
//可视化为带有RViz中标记的线。
ROS_INFO_NAMED("tutorial", "Visualizing plan 1 as trajectory line");
visual_tools.publishAxisLabeled(target_pose1, "pose1");
visual_tools.publishText(text_pose, "Pose Goal", rvt::WHITE, rvt::XLARGE);
visual_tools.publishTrajectoryLine(my_plan.trajectory_, joint_model_group);
visual_tools.trigger();
visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to continue the demo");
// Moving to a pose goal
// ^^^^^^^^^^^^^^^^^^^^^
//
// Moving to a pose goal is similar to the step above
// except we now use the move() function. Note that
// the pose goal we had set earlier is still active
// and so the robot will try to move to that goal. We will
// not use that function in this tutorial since it is
// a blocking function and requires a controller to be active
// and report success on execution of a trajectory.
/* Uncomment below line when working with a real robot */
/* move_group.move(); */
// Planning to a joint-space goal
// ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
//
// Let's set a joint space goal and move towards it. This will replace the
// pose target we set above.
//
// To start, we'll create an pointer that references the current robot's state.
// RobotState is the object that contains all the current position/velocity/acceleration data.
//移动到姿势目标与上面的步骤类似，除了我们现在使用move（）函数。请注意，我们之前设置的姿势目标仍处于活动状态，
//因此机器人将尝试移动到该目标。我们不会在本教程中使用该函数，因为它是一个阻塞函数，需要一个控制器处于活动状态并报告执行轨迹的成功。
//让我们设定一个联合空间目标并向它迈进。这将取代我们上面设置的姿势目标。
//首先，我们将创建一个引用当前机器人状态的指针。RobotState是包含所有当前位置/速度/加速度数据的对象。
moveit::core::RobotStatePtr current_state = move_group.getCurrentState();
//接下来获取该组的当前关节集合。
// Next get the current set of joint values for the group.
std::vector<double> joint_group_positions;
current_state->copyJointGroupPositions(joint_model_group, joint_group_positions);
// Now, let's modify one of the joints, plan to the new joint space goal and visualize the plan.
// 现在，让我们修改其中一个关节，计划新的关节空间目标并可视化计划。(1弧度)
joint_group_positions [0] = -1.0; // radians
move_group.setJointValueTarget(joint_group_positions);
success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
ROS_INFO_NAMED("tutorial", "Visualizing plan 2 (joint space goal) %s", success ? "" : "FAILED");
// Visualize the plan in RViz
visual_tools.deleteAllMarkers();
visual_tools.publishText(text_pose, "Joint Space Goal", rvt::WHITE, rvt::XLARGE);
visual_tools.publishTrajectoryLine(my_plan.trajectory_, joint_model_group);
visual_tools.trigger();
visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to continue the demo");
// Planning with Path Constraints
// ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
//可以轻松地为机器人上的链接指定路径约束。让我们为我们的组指定路径约束和姿势目标。首先定义路径约束。
// Path constraints can easily be specified for a link on the robot.
// Let's specify a path constraint and a pose goal for our group.
// First define the path constraint.
moveit_msgs::OrientationConstraint ocm;
ocm.link_name = "panda_link7";
ocm.header.frame_id = "panda_link0";
ocm.orientation.w = 1.0;
ocm.absolute_x_axis_tolerance = 0.1;
ocm.absolute_y_axis_tolerance = 0.1;
ocm.absolute_z_axis_tolerance = 0.1;
ocm.weight = 1.0;
// Now, set it as the path constraint for the group.
//现在，将其设置为组的路径约束。
moveit_msgs::Constraints test_constraints;
test_constraints.orientation_constraints.push_back(ocm);
move_group.setPathConstraints(test_constraints);
// We will reuse the old goal that we had and plan to it.
// Note that this will only work if the current state already
// satisfies the path constraints. So, we need to set the start
// state to a new pose.
//我们将重用我们拥有的旧目标并计划它。请注意，这仅在当前状态已满足路径约束时才有效。因此，我们需要将开始状态设置为新姿势。
robot_state::RobotState start_state(*move_group.getCurrentState());
geometry_msgs::Pose start_pose2;
start_pose2.orientation.w = 1.0;
start_pose2.position.x = 0.55;
start_pose2.position.y = -0.05;
start_pose2.position.z = 0.8;
start_state.setFromIK(joint_model_group, start_pose2);
move_group.setStartState(start_state);
//现在我们将从刚刚创建的新启动状态计划更早的姿势目标。
// Now we will plan to the earlier pose target from the new
// start state that we have just created.
move_group.setPoseTarget(target_pose1);
// Planning with constraints can be slow because every sample must call an inverse kinematics solver.
// Lets increase the planning time from the default 5 seconds to be sure the planner has enough time to succeed.
//使用约束进行规划可能会很慢，因为每个样本都必须调用反向运动学求解器。让我们将计划时间从默认的5秒增加到确保规划人员有足够的时间成功。
move_group.setPlanningTime(10.0);
success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
ROS_INFO_NAMED("tutorial", "Visualizing plan 3 (constraints) %s", success ? "" : "FAILED");
// Visualize the plan in RViz
visual_tools.deleteAllMarkers();
visual_tools.publishAxisLabeled(start_pose2, "start");
visual_tools.publishAxisLabeled(target_pose1, "goal");
visual_tools.publishText(text_pose, "Constrained Goal", rvt::WHITE, rvt::XLARGE);
visual_tools.publishTrajectoryLine(my_plan.trajectory_, joint_model_group);
visual_tools.trigger();
visual_tools.prompt("next step");
// When done with the path constraint be sure to clear it.
move_group.clearPathConstraints();
// Since we set the start state we have to clear it before planning other paths
move_group.setStartStateToCurrentState();
// Cartesian Paths
// ^^^^^^^^^^^^^^^
// You can plan a Cartesian path directly by specifying a list of waypoints
// for the end-effector to go through. Note that we are starting
// from the new start state above. The initial pose (start state) does not
// need to be added to the waypoint list but adding it can help with visualizations
//您可以通过指定末端执行器经过的航点列表来直接规划笛卡尔路径。请注意，我们从上面的新开始状态开始。初始姿势（开始状态）不需要添加到航点列表，但添加它可以帮助进行可视化
geometry_msgs::Pose target_pose3 = move_group.getCurrentPose().pose;
std::vector<geometry_msgs::Pose> waypoints;
waypoints.push_back(target_pose3);
target_pose3.position.z -= 0.2;
waypoints.push_back(target_pose3); // down
target_pose3.position.y -= 0.2;
waypoints.push_back(target_pose3); // right
target_pose3.position.z += 0.2;
target_pose3.position.y += 0.2;
target_pose3.position.x -= 0.2;
waypoints.push_back(target_pose3); // up and left
// Cartesian motions are frequently needed to be slower for actions such as approach and retreat
// grasp motions. Here we demonstrate how to reduce the speed of the robot arm via a scaling factor
// of the maxiumum speed of each joint. Note this is not the speed of the end effector point.
//对于诸如逼近和撤退抓握动作之类的动作，笛卡尔运动经常需要较慢。在这里，我们演示了如何通过每个关节的最大速度的比例因子来降低机器人手臂的速度。请注意，这不是末端执行器点的速度。
move_group.setMaxVelocityScalingFactor(0.1);
// We want the Cartesian path to be interpolated at a resolution of 1 cm
// which is why we will specify 0.01 as the max step in Cartesian
// translation. We will specify the jump threshold as 0.0, effectively disabling it.
// Warning - disabling the jump threshold while operating real hardware can cause
// large unpredictable motions of redundant joints and could be a safety issue
//我们希望笛卡尔路径以1 cm的分辨率进行插值，这就是为什么我们将指定0.01作为笛卡尔平移的最大步长。我们将跳转阈值指定为0.0，
//从而有效地禁用它。警告 - 在操作真实硬件时禁用跳转阈值可能会导致冗余关节的大量不可预测的运动，这可能是一个安全问题
moveit_msgs::RobotTrajectory trajectory;
const double jump_threshold = 0.0;
const double eef_step = 0.01;
double fraction = move_group.computeCartesianPath(waypoints, eef_step, jump_threshold, trajectory);
ROS_INFO_NAMED("tutorial", "Visualizing plan 4 (Cartesian path) (%.2f%% acheived)", fraction * 100.0);
// Visualize the plan in RViz
visual_tools.deleteAllMarkers();
visual_tools.publishText(text_pose, "Joint Space Goal", rvt::WHITE, rvt::XLARGE);
visual_tools.publishPath(waypoints, rvt::LIME_GREEN, rvt::SMALL);
for (std::size_t i = 0; i < waypoints.size(); ++i)
visual_tools.publishAxisLabeled(waypoints[i], "pt" + std::to_string(i), rvt::SMALL);
visual_tools.trigger();
visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to continue the demo");
// Adding/Removing Objects and Attaching/Detaching Objects
// ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
//定义冲突对象ROS消息。
// Define a collision object ROS message.
moveit_msgs::CollisionObject collision_object;
collision_object.header.frame_id = move_group.getPlanningFrame();
// The id of the object is used to identify it.
collision_object.id = "box1";
// Define a box to add to the world.
//定义一个框以添加到世界中。
shape_msgs::SolidPrimitive primitive;
primitive.type = primitive.BOX;
primitive.dimensions.resize(3);
primitive.dimensions[0] = 0.4;
primitive.dimensions[1] = 0.1;
primitive.dimensions[2] = 0.4;
// Define a pose for the box (specified relative to frame_id)
//为框定义一个姿势
geometry_msgs::Pose box_pose;
box_pose.orientation.w = 1.0;
box_pose.position.x = 0.4;
box_pose.position.y = -0.2;
box_pose.position.z = 1.0;
collision_object.primitives.push_back(primitive);
collision_object.primitive_poses.push_back(box_pose);
collision_object.operation = collision_object.ADD;
std::vector<moveit_msgs::CollisionObject> collision_objects;
collision_objects.push_back(collision_object);
// Now, let's add the collision object into the world
ROS_INFO_NAMED("tutorial", "Add an object into the world");
planning_scene_interface.addCollisionObjects(collision_objects);
// Show text in RViz of status
visual_tools.publishText(text_pose, "Add object", rvt::WHITE, rvt::XLARGE);
visual_tools.trigger();
// Wait for MoveGroup to recieve and process the collision object message
visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to once the collision object appears in RViz");
// Now when we plan a trajectory it will avoid the obstacle
move_group.setStartState(*move_group.getCurrentState());
geometry_msgs::Pose another_pose;
another_pose.orientation.w = 1.0;
another_pose.position.x = 0.4;
another_pose.position.y = -0.4;
another_pose.position.z = 0.9;
move_group.setPoseTarget(another_pose);
success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
ROS_INFO_NAMED("tutorial", "Visualizing plan 5 (pose goal move around cuboid) %s", success ? "" : "FAILED");
// Visualize the plan in RViz
visual_tools.deleteAllMarkers();
visual_tools.publishText(text_pose, "Obstacle Goal", rvt::WHITE, rvt::XLARGE);
visual_tools.publishTrajectoryLine(my_plan.trajectory_, joint_model_group);
visual_tools.trigger();
visual_tools.prompt("next step");
// Now, let's attach the collision object to the robot.
ROS_INFO_NAMED("tutorial", "Attach the object to the robot");
move_group.attachObject(collision_object.id);
// Show text in RViz of status
visual_tools.publishText(text_pose, "Object attached to robot", rvt::WHITE, rvt::XLARGE);
visual_tools.trigger();
/* Wait for MoveGroup to recieve and process the attached collision object message */
visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to once the collision object attaches to the "
"robot");
// Now, let's detach the collision object from the robot.
ROS_INFO_NAMED("tutorial", "Detach the object from the robot");
move_group.detachObject(collision_object.id);
// Show text in RViz of status
visual_tools.publishText(text_pose, "Object dettached from robot", rvt::WHITE, rvt::XLARGE);
visual_tools.trigger();
/* Wait for MoveGroup to recieve and process the attached collision object message */
visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to once the collision object detaches to the "
"robot");
// Now, let's remove the collision object from the world.
ROS_INFO_NAMED("tutorial", "Remove the object from the world");
std::vector<std::string> object_ids;
object_ids.push_back(collision_object.id);
planning_scene_interface.removeCollisionObjects(object_ids);
// Show text in RViz of status
visual_tools.publishText(text_pose, "Object removed", rvt::WHITE, rvt::XLARGE);
visual_tools.trigger();
/* Wait for MoveGroup to recieve and process the attached collision object message */
visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to once the collision object disapears");
// END_TUTORIAL
ros::shutdown();
return 0;
}