ros noetic moveit中的Planning Adapter Tutorials功能python示例

以下是一个简单的 Python 示例，展示了如何使用 Planning Adapter Tutorials 功能：

import rospy
import moveit_commander
import moveit_msgs.msg
import geometry_msgs.msg

def main():
    # 初始化 ROS 节点
    rospy.init_node('planning_adapter_tutorial', anonymous=True)

    # 初始化 MoveIt Commander
    moveit_commander.roscpp_initialize(sys.argv)
    robot = moveit_commander.RobotCommander()
    scene = moveit_commander.PlanningSceneInterface()
    group = moveit_commander.MoveGroupCommander("manipulator")

    # 设置 Planning Scene 中的障碍物
    box_pose = geometry_msgs.msg.PoseStamped()
    box_pose.header.frame_id = robot.get_planning_frame()
    box_pose.pose.orientation.w = 1.0
    box_pose.pose.position.x = 0.6
    box_pose.pose.position.y = 0
    box_pose.pose.position.z = 0.3
    scene.add_box("box", box_pose, size=(0.2, 0.2, 0.2))

    # 设置 Planning Group 的起始状态
    group.set_start_state_to_current_state()

    # 设置 Planning Group 的目标状态
    pose_target = geometry_msgs.msg.Pose()
    pose_target.orientation.w = 1.0
    pose_target.position.x = 0.4
    pose_target.position.y = 0.4
    pose_target.position.z = 0.4
    group.set_pose_target(pose_target)

    # 运行规划器，生成规划结果
    plan = group.plan()

    # 使用 Planning Adapter 进行优化
    from moveit_msgs.msg import RobotTrajectory
    from moveit_msgs.msg import Constraints
    from moveit_msgs.msg import JointConstraint
    from moveit_msgs.msg import PositionConstraint
    from moveit_msgs.msg import OrientationConstraint
    from moveit_msgs.msg import OrientationConstraintType
    from moveit_msgs.msg import PlanningScene

    # 设置 Planning Adapter 的参数
    constraints = Constraints()
    joint_constraint = JointConstraint()
    joint_constraint.joint_name = "joint1"
    joint_constraint.position = 0.5
    joint_constraint.tolerance_above = 0.1
    joint_constraint.tolerance_below = 0.1
    joint_constraint.weight = 1.0
    constraints.joint_constraints.append(joint_constraint)

    # 设置 Planning Adapter 的类型
    orientation_constraint = OrientationConstraint()
    orientation_constraint.link_name = "end_effector_link"
    orientation_constraint.header.frame_id = robot.get_planning_frame()
    orientation_constraint.orientation.w = 1.0
    orientation_constraint.absolute_x_axis_tolerance = 0.1
    orientation_constraint.absolute_y_axis_tolerance = 0.1
    orientation_constraint.absolute_z_axis_tolerance = 0.1
    orientation_constraint.weight = 1.0
    orientation_constraint.type = OrientationConstraintType.PARALLEL_PLANES
    constraints.orientation_constraints.append(orientation_constraint)

    # 执行 Planning Adapter 优化
    adapter = rospy.ServiceProxy('/apply_planning_scene', PlanningScene)
    adapter(constraints)

    # 执行优化后的规划结果
    group.execute(plan)

if __name__ == '__main__':
    main()

这个示例实现了以下功能：

1. 初始化 ROS 节点和 MoveIt Commander。
2. 在 Planning Scene 中添加一个盒子障碍物。
3. 设置 Planning Group 的起始状态和目标状态。
4. 运行规划器生成规划结果。
5. 使用 Planning Adapter 进行优化。
6. 执行优化后的规划结果。