MoveIt! 学习笔记8 -Visualizing Collisions（碰撞可视化）（带后续使用的时候添加细节）

此博文主要是用来记录ROS-Kinetic 中，用于机器人轨迹规划的MoveIt功能包的学习记录。 

英文原版教程见此链接：http://docs.ros.org/en/kinetic/api/moveit_tutorials/html/doc/move_group_interface/move_group_interface_tutorial.html

引： Visualizing Collision的主要功能是：在RVIZ中可以可视化的看到：机器人与自身发生碰撞位置； 机器人与仿真环境其他物品发生碰撞的位置等。

注：Interactive Marker指的是RVIZ仿真环境中，控制机器人和box前后左右运动的红绿蓝的箭头。

       这个教程主要使用了 InteractiveRobot 这一个Class

#include <ros/ros.h>
#include "interactivity/interactive_robot.h"
#include "interactivity/pose_string.h"// MoveIt!
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/collision_detection_fcl/collision_world_fcl.h>
#include <moveit/collision_detection_fcl/collision_robot_fcl.h>
#include <moveit/collision_detection/collision_tools.h>planning_scene::PlanningScene* g_planning_scene = 0;
shapes::ShapePtr g_world_cube_shape;
ros::Publisher* g_marker_array_publisher = 0;
visualization_msgs::MarkerArray g_collision_points;void help()
{ROS_INFO("#####################################################");ROS_INFO("RVIZ SETUP");ROS_INFO("----------");ROS_INFO("  Global options:");ROS_INFO("    FixedFrame = /panda_link0");ROS_INFO("  Add a RobotState display:");ROS_INFO("    RobotDescription = robot_description");ROS_INFO("    RobotStateTopic  = interactive_robot_state");ROS_INFO("  Add a Marker display:");ROS_INFO("    MarkerTopic = interactive_robot_markers");ROS_INFO("  Add an InteractiveMarker display:");ROS_INFO("    UpdateTopic = interactive_robot_imarkers/update");ROS_INFO("  Add a MarkerArray display:");ROS_INFO("    MarkerTopic = interactive_robot_marray");ROS_INFO("#####################################################");
}void publishMarkers(visualization_msgs::MarkerArray& markers)
{// delete old markersif (g_collision_points.markers.size()){for (int i = 0; i < g_collision_points.markers.size(); i++)g_collision_points.markers[i].action = visualization_msgs::Marker::DELETE;g_marker_array_publisher->publish(g_collision_points);}// move new markers into g_collision_pointsstd::swap(g_collision_points.markers, markers.markers);// draw new markers (if there are any)if (g_collision_points.markers.size())g_marker_array_publisher->publish(g_collision_points);
}void computeCollisionContactPoints(InteractiveRobot& robot)
{// move the world geometry in the collision worldEigen::Affine3d world_cube_pose;double world_cube_size;robot.getWorldGeometry(world_cube_pose, world_cube_size);g_planning_scene->getWorldNonConst()->moveShapeInObject("world_cube", g_world_cube_shape, world_cube_pose);// BEGIN_SUB_TUTORIAL computeCollisionContactPoints//// Collision Requests// ^^^^^^^^^^^^^^^^^^// We will create a collision request for the Panda robotcollision_detection::CollisionRequest c_req;collision_detection::CollisionResult c_res;c_req.group_name = robot.getGroupName();c_req.contacts = true;c_req.max_contacts = 100;c_req.max_contacts_per_pair = 5;c_req.verbose = false;// Checking for Collisions// ^^^^^^^^^^^^^^^^^^^^^^^// We check for collisions between robot and itself or the world.g_planning_scene->checkCollision(c_req, c_res, *robot.robotState());// Displaying Collision Contact Points// ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^// If there are collisions, we get the contact points and display them as markers.// **getCollisionMarkersFromContacts()** is a helper function that adds the// collision contact points into a MarkerArray message. If you want to use// the contact points for something other than displaying them you can// iterate through **c_res.contacts** which is a std::map of contact points.// Look at the implementation of getCollisionMarkersFromContacts() in// `collision_tools.cpp// <https://github.com/ros-planning/moveit/blob/kinetic-devel/moveit_core/collision_detection/src/collision_tools.cpp>`_// for how.if (c_res.collision){ROS_INFO("COLLIDING contact_point_count=%d", (int)c_res.contact_count);if (c_res.contact_count > 0){std_msgs::ColorRGBA color;color.r = 1.0;color.g = 0.0;color.b = 1.0;color.a = 0.5;visualization_msgs::MarkerArray markers;/* Get the contact ponts and display them as markers */collision_detection::getCollisionMarkersFromContacts(markers, "panda_link0", c_res.contacts, color,ros::Duration(),  // remain until deleted0.01);            // radiuspublishMarkers(markers);}}// END_SUB_TUTORIALelse{ROS_INFO("Not colliding");// delete the old collision point markersvisualization_msgs::MarkerArray empty_marker_array;publishMarkers(empty_marker_array);}
}int main(int argc, char** argv)
{ros::init(argc, argv, "visualizing_collisions_tutorial");ros::NodeHandle nh;// BEGIN_TUTORIAL//// Initializing the Planning Scene and Markers// ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^// For this tutorial we use an :codedir:`InteractiveRobot <interactivity/src/interactive_robot.cpp>`// object as a wrapper that combines a robot_model with the cube and an interactive marker. We also// create a :planning_scene:`PlanningScene` for collision checking. If you haven't already gone through the// `planning scene tutorial <../planning_scene/planning_scene_tutorial.html>`_, you go through that first.InteractiveRobot robot;/* Create a PlanningScene */g_planning_scene = new planning_scene::PlanningScene(robot.robotModel());// Adding geometry to the PlanningSceneEigen::Affine3d world_cube_pose;double world_cube_size;robot.getWorldGeometry(world_cube_pose, world_cube_size);g_world_cube_shape.reset(new shapes::Box(world_cube_size, world_cube_size, world_cube_size));g_planning_scene->getWorldNonConst()->addToObject("world_cube", g_world_cube_shape, world_cube_pose);// CALL_SUB_TUTORIAL computeCollisionContactPoints// END_TUTORIAL// Create a marker array publisher for publishing contact pointsg_marker_array_publisher =new ros::Publisher(nh.advertise<visualization_msgs::MarkerArray>("interactive_robot_marray", 100));robot.setUserCallback(computeCollisionContactPoints);help();ros::spin();delete g_planning_scene;delete g_marker_array_publisher;ros::shutdown();return 0;
}