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Try fix robot start state with STOMP #26

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Oct 20, 2021
Merged

Try fix robot start state with STOMP #26

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9 changes: 4 additions & 5 deletions stomp_moveit/src/stomp_planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -267,7 +267,7 @@ bool StompPlanner::solve(planning_interface::MotionPlanDetailedResponse &res)
}

// creating request response
moveit::core::RobotState robot_state(robot_model_);
moveit::core::RobotState robot_state = planning_scene_->getCurrentState();
moveit::core::robotStateMsgToRobotState(request_.start_state,robot_state);
res.trajectory_[0]= robot_trajectory::RobotTrajectoryPtr(new robot_trajectory::RobotTrajectory(
robot_model_,group_));
Expand Down Expand Up @@ -328,7 +328,7 @@ bool StompPlanner::getSeedParameters(Eigen::MatrixXd& parameters) const
* Validating seed trajectory by ensuring that it does obey the
* motion plan request constraints
*/
moveit::core::RobotState state (robot_model_);
moveit::core::RobotState state = planning_scene_->getCurrentState();
const auto* group = state.getJointModelGroup(group_);
const auto& joint_names = group->getActiveJointModelNames();
const auto& tool_link = group->getLinkModelNames().back();
Expand Down Expand Up @@ -471,7 +471,7 @@ bool StompPlanner::parametersToJointTrajectory(const Eigen::MatrixXd& parameters

trajectory_processing::IterativeParabolicTimeParameterization time_generator;
robot_trajectory::RobotTrajectory traj(robot_model_,group_);
moveit::core::RobotState robot_state(robot_model_);
moveit::core::RobotState robot_state = planning_scene_->getCurrentState();
if(!moveit::core::robotStateMsgToRobotState(request_.start_state,robot_state))
{
return false;
Expand Down Expand Up @@ -587,15 +587,14 @@ bool StompPlanner::getStartAndGoal(Eigen::VectorXd& start, Eigen::VectorXd& goal
using namespace moveit::core;
using namespace utils::kinematics;

RobotStatePtr state(new RobotState(robot_model_));
RobotStatePtr state(new RobotState(planning_scene_->getCurrentState()));
const JointModelGroup* joint_group = robot_model_->getJointModelGroup(group_);
std::string tool_link = joint_group->getLinkModelNames().back();
bool found_goal = false;

try
{
// copying start state
state->setToDefaultValues();
if(!robotStateMsgToRobotState(request_.start_state,*state))
{
ROS_ERROR("%s Failed to extract start state from MotionPlanRequest",getName().c_str());
Expand Down