-
Notifications
You must be signed in to change notification settings - Fork 568
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
Showing
6 changed files
with
295 additions
and
47 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,9 @@ | ||
| add_library(srdf_publisher_node SHARED src/srdf_publisher_node.cpp) | ||
| ament_target_dependencies(srdf_publisher_node PUBLIC std_msgs rclcpp | ||
| rclcpp_components) | ||
|
|
||
| if(BUILD_TESTING) | ||
| find_package(launch_testing_ament_cmake REQUIRED) | ||
|
|
||
| add_launch_test(test/srdf_publisher_test.py TARGET test-srdf_publisher) | ||
| endif() |
101 changes: 101 additions & 0 deletions
101
moveit_ros/planning/srdf_publisher_node/src/srdf_publisher_node.cpp
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,101 @@ | ||
| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2024, PickNik Robotics Inc. | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of PickNik Robotics Inc. nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| *********************************************************************/ | ||
|
|
||
| // SrdfPublisher Node | ||
| // Author: Tyler Weaver | ||
| // | ||
| // Node with a single parameter and single publisher using transient local QoS. | ||
| // Publishes string set on parameter `robot_description_semantic` to topic | ||
| // `/robot_description_semantic`. | ||
| // | ||
| // This is similar to what [robot_state_publisher](https://github.com/ros/robot_state_publisher) | ||
| // does for the URDF using parameter `robot_description` and topic `/robot_description`. | ||
| // | ||
| // As MoveIt subscribes to the topic `/robot_description_semantic` for the srdf | ||
| // this node can be used when you want to set the SRDF parameter on only one node | ||
| // and have the rest of your system use a subscriber to that topic to get the | ||
| // SRDF. | ||
|
|
||
| #include <rclcpp/rclcpp.hpp> | ||
| #include <std_msgs/msg/string.hpp> | ||
|
|
||
| #include <string> | ||
|
|
||
| namespace moveit_ros_planning | ||
| { | ||
|
|
||
| class SrdfPublisher : public rclcpp::Node | ||
| { | ||
| rclcpp::Publisher<std_msgs::msg::String>::SharedPtr srdf_publisher_; | ||
| rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr on_set_parameters_handle_; | ||
|
|
||
| public: | ||
| SrdfPublisher(const rclcpp::NodeOptions& options) : rclcpp::Node("srdf_publisher", options) | ||
| { | ||
| srdf_publisher_ = this->create_publisher<std_msgs::msg::String>("robot_description_semantic", | ||
| rclcpp::QoS(1).transient_local().reliable()); | ||
|
|
||
| // TODO: Update the callback used here once Humble is EOL | ||
| // Using add_on_set_parameters_callback as it is the only parameter callback available in Humble. | ||
| // This is also why we have to return an always success validation. | ||
| // Once Humble is EOL use add_post_set_parameters_callback. | ||
| on_set_parameters_handle_ = | ||
| this->add_on_set_parameters_callback([this](const std::vector<rclcpp::Parameter>& parameters) { | ||
| for (auto const& parameter : parameters) | ||
| { | ||
| if (parameter.get_name() == "robot_description_semantic") | ||
| { | ||
| std_msgs::msg::String msg; | ||
| msg.data = parameter.get_value<std::string>(); | ||
| srdf_publisher_->publish(msg); | ||
| break; | ||
| } | ||
| } | ||
|
|
||
| rcl_interfaces::msg::SetParametersResult result; | ||
| result.successful = true; | ||
| return result; | ||
| }); | ||
|
|
||
| rcl_interfaces::msg::ParameterDescriptor descriptor; | ||
| descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING; | ||
| descriptor.description = "Semantic Robot Description Format"; | ||
| this->declare_parameter("robot_description_semantic", rclcpp::ParameterType::PARAMETER_STRING, descriptor); | ||
| } | ||
| }; | ||
|
|
||
| } // namespace moveit_ros_planning | ||
|
|
||
| #include "rclcpp_components/register_node_macro.hpp" | ||
| RCLCPP_COMPONENTS_REGISTER_NODE(moveit_ros_planning::SrdfPublisher) |
Oops, something went wrong.