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Port moveit_msgs services #29

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Feb 27, 2019
Merged

Port moveit_msgs services #29

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4 changes: 2 additions & 2 deletions moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp
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Expand Up @@ -116,7 +116,7 @@ bool SrvKinematicsPlugin::initialize(const moveit::core::RobotModel& robot_model
// Create the ROS service client
ros::NodeHandle nonprivate_handle("");
ik_service_client_ = std::make_shared<ros::ServiceClient>(
nonprivate_handle.serviceClient<moveit_msgs::GetPositionIK>(ik_service_name));
nonprivate_handle.serviceClient<moveit_msgs::srv::GetPositionIK>(ik_service_name));
if (!ik_service_client_->waitForExistence(ros::Duration(0.1))) // wait 0.1 seconds, blocking
ROS_WARN_STREAM_NAMED("srv",
"Unable to connect to ROS service client with name: " << ik_service_client_->getService());
Expand Down Expand Up @@ -271,7 +271,7 @@ bool SrvKinematicsPlugin::searchPositionIK(const std::vector<geometry_msgs::Pose
}

// Create the service message
moveit_msgs::GetPositionIK ik_srv;
moveit_msgs::srv::GetPositionIK ik_srv;
ik_srv.request.ik_request.avoid_collisions = true;
ik_srv.request.ik_request.group_name = getGroupName();

Expand Down
2 changes: 1 addition & 1 deletion moveit_planners/ompl/ompl_interface/src/ompl_planner.cpp
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Expand Up @@ -63,7 +63,7 @@ class OMPLPlannerService
}
}

bool computePlan(moveit_msgs::GetMotionPlan::Request& req, moveit_msgs::GetMotionPlan::Response& res)
bool computePlan(moveit_msgs::srv::GetMotionPlan::Request& req, moveit_msgs::srv::GetMotionPlan::Response& res)
{
ROS_INFO("Received new planning request...");
if (debug_)
Expand Down
2 changes: 1 addition & 1 deletion moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/environment_chain3d.h
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Expand Up @@ -211,7 +211,7 @@ class EnvironmentChain3D : public DiscreteSpaceInformation
virtual bool AreEquivalent(int StateID1, int StateID2);

bool setupForMotionPlan(const planning_scene::PlanningSceneConstPtr& planning_scene,
const moveit_msgs::GetMotionPlan::Request& req, moveit_msgs::GetMotionPlan::Response& res,
const moveit_msgs::srv::GetMotionPlan::Request& req, moveit_msgs::srv::GetMotionPlan::Response& res,
const PlanningParameters& params);

const EnvChain3DPlanningData& getPlanningData() const
Expand Down
2 changes: 1 addition & 1 deletion moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/sbpl_interface.h
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Expand Up @@ -53,7 +53,7 @@ class SBPLInterface
}

bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
const moveit_msgs::GetMotionPlan::Request& req, moveit_msgs::GetMotionPlan::Response& res,
const moveit_msgs::srv::GetMotionPlan::Request& req, moveit_msgs::srv::GetMotionPlan::Response& res,
const PlanningParameters& params) const;

const PlanningStatistics& getLastPlanningStatistics() const
Expand Down
4 changes: 2 additions & 2 deletions moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/sbpl_meta_interface.h
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Expand Up @@ -52,7 +52,7 @@ class SBPLMetaInterface
}

bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
const moveit_msgs::GetMotionPlan::Request& req, moveit_msgs::GetMotionPlan::Response& res);
const moveit_msgs::srv::GetMotionPlan::Request& req, moveit_msgs::srv::GetMotionPlan::Response& res);

const PlanningStatistics& getLastPlanningStatistics() const
{
Expand All @@ -61,7 +61,7 @@ class SBPLMetaInterface

protected:
void runSolver(bool use_first, const planning_scene::PlanningSceneConstPtr& planning_scene,
const moveit_msgs::GetMotionPlan::Request& req, moveit_msgs::GetMotionPlan::Response& res,
const moveit_msgs::srv::GetMotionPlan::Request& req, moveit_msgs::srv::GetMotionPlan::Response& res,
const PlanningParameters& params);

boost::mutex planner_done_mutex_;
Expand Down
4 changes: 2 additions & 2 deletions moveit_planners/sbpl/core/sbpl_interface/src/environment_chain3d.cpp
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Expand Up @@ -424,8 +424,8 @@ void EnvironmentChain3D::SetAllPreds(CMDPSTATE* state)
/////////////////////////////////////////////////////////////////////////////

bool EnvironmentChain3D::setupForMotionPlan(const planning_scene::PlanningSceneConstPtr& planning_scene,
const moveit_msgs::GetMotionPlan::Request& mreq,
moveit_msgs::GetMotionPlan::Response& mres,
const moveit_msgs::srv::GetMotionPlan::Request& mreq,
moveit_msgs::srv::GetMotionPlan::Response& mres,
const PlanningParameters& params)
{
std::cerr << "really here " << std::endl;
Expand Down
2 changes: 1 addition & 1 deletion moveit_planners/sbpl/core/sbpl_interface/src/sbpl_interface.cpp
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Expand Up @@ -39,7 +39,7 @@
namespace sbpl_interface
{
bool SBPLInterface::solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
const moveit_msgs::GetMotionPlan::Request& req, moveit_msgs::GetMotionPlan::Response& res,
const moveit_msgs::srv::GetMotionPlan::Request& req, moveit_msgs::srv::GetMotionPlan::Response& res,
const PlanningParameters& params) const
{
res.trajectory.joint_trajectory.points.clear();
Expand Down
8 changes: 4 additions & 4 deletions moveit_planners/sbpl/core/sbpl_interface/src/sbpl_meta_interface.cpp
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Expand Up @@ -45,7 +45,7 @@ SBPLMetaInterface::SBPLMetaInterface(const planning_models::RobotModelConstPtr&
}

bool SBPLMetaInterface::solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
const moveit_msgs::GetMotionPlan::Request& req, moveit_msgs::GetMotionPlan::Response& res)
const moveit_msgs::srv::GetMotionPlan::Request& req, moveit_msgs::srv::GetMotionPlan::Response& res)
{
first_ok_ = false;
first_done_ = false;
Expand All @@ -56,7 +56,7 @@ bool SBPLMetaInterface::solve(const planning_scene::PlanningSceneConstPtr& plann
param_bfs.use_bfs_ = true;
PlanningParameters param_no_bfs;
param_no_bfs.use_bfs_ = false;
moveit_msgs::GetMotionPlan::Response res1, res2;
moveit_msgs::srv::GetMotionPlan::Response res1, res2;
boost::thread thread1(boost::bind(&SBPLMetaInterface::runSolver, this, true, boost::cref(planning_scene),
boost::cref(req), boost::ref(res1), param_bfs));
boost::thread thread2(boost::bind(&SBPLMetaInterface::runSolver, this, false, boost::cref(planning_scene),
Expand Down Expand Up @@ -146,8 +146,8 @@ bool SBPLMetaInterface::solve(const planning_scene::PlanningSceneConstPtr& plann
}

void SBPLMetaInterface::runSolver(bool use_first, const planning_scene::PlanningSceneConstPtr& planning_scene,
const moveit_msgs::GetMotionPlan::Request& req,
moveit_msgs::GetMotionPlan::Response& res, const PlanningParameters& params)
const moveit_msgs::srv::GetMotionPlan::Request& req,
moveit_msgs::srv::GetMotionPlan::Response& res, const PlanningParameters& params)
{
try
{
Expand Down
8 changes: 4 additions & 4 deletions moveit_planners/sbpl/ros/sbpl_interface_ros/src/sbpl_meta_plugin.cpp
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Expand Up @@ -54,7 +54,7 @@ class SBPLMetaPlanner : public planning_interface::Planner
sbpl_meta_interface_.reset(new sbpl_interface::SBPLMetaInterface(model));
}

bool canServiceRequest(const moveit_msgs::GetMotionPlan::Request& req,
bool canServiceRequest(const moveit_msgs::srv::GetMotionPlan::Request& req,
planning_interface::PlannerCapability& capabilities) const
{
// TODO: this is a dummy implementation
Expand All @@ -63,16 +63,16 @@ class SBPLMetaPlanner : public planning_interface::Planner
}

bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
const moveit_msgs::GetMotionPlan::Request& req, moveit_msgs::GetMotionPlan::Response& res) const
const moveit_msgs::srv::GetMotionPlan::Request& req, moveit_msgs::srv::GetMotionPlan::Response& res) const
{
bool solve_ok = sbpl_meta_interface_->solve(planning_scene, req, res);
return solve_ok;
}

bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
const moveit_msgs::GetMotionPlan::Request& req, moveit_msgs::MotionPlanDetailedResponse& res) const
const moveit_msgs::srv::GetMotionPlan::Request& req, moveit_msgs::MotionPlanDetailedResponse& res) const
{
moveit_msgs::GetMotionPlan::Response res2;
moveit_msgs::srv::GetMotionPlan::Response res2;
if (sbpl_meta_interface_->solve(planning_scene, req, res2))
{
res.trajectory_start = res2.trajectory_start;
Expand Down
8 changes: 4 additions & 4 deletions moveit_planners/sbpl/ros/sbpl_interface_ros/src/sbpl_plugin.cpp
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Expand Up @@ -54,7 +54,7 @@ class SBPLPlanner : public planning_interface::Planner
sbpl_interface_.reset(new sbpl_interface::SBPLInterface(model));
}

bool canServiceRequest(const moveit_msgs::GetMotionPlan::Request& req,
bool canServiceRequest(const moveit_msgs::srv::GetMotionPlan::Request& req,
planning_interface::PlannerCapability& capabilities) const
{
// TODO: this is a dummy implementation
Expand All @@ -63,7 +63,7 @@ class SBPLPlanner : public planning_interface::Planner
}

bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
const moveit_msgs::GetMotionPlan::Request& req, moveit_msgs::GetMotionPlan::Response& res) const
const moveit_msgs::srv::GetMotionPlan::Request& req, moveit_msgs::srv::GetMotionPlan::Response& res) const
{
sbpl_interface::PlanningParameters params;
params.use_bfs_ = false;
Expand All @@ -72,12 +72,12 @@ class SBPLPlanner : public planning_interface::Planner
}

bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
const moveit_msgs::GetMotionPlan::Request& req, moveit_msgs::MotionPlanDetailedResponse& res) const
const moveit_msgs::srv::GetMotionPlan::Request& req, moveit_msgs::MotionPlanDetailedResponse& res) const
{
sbpl_interface::PlanningParameters params;
params.use_bfs_ = false;

moveit_msgs::GetMotionPlan::Response res2;
moveit_msgs::srv::GetMotionPlan::Response res2;
if (sbpl_interface_->solve(planning_scene, req, res2, params))
{
res.trajectory_start = res2.trajectory_start;
Expand Down
4 changes: 2 additions & 2 deletions moveit_ros/move_group/src/default_capabilities/apply_planning_scene_service_capability.cpp
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Expand Up @@ -47,8 +47,8 @@ void move_group::ApplyPlanningSceneService::initialize()
&ApplyPlanningSceneService::applyScene, this);
}

bool move_group::ApplyPlanningSceneService::applyScene(moveit_msgs::ApplyPlanningScene::Request& req,
moveit_msgs::ApplyPlanningScene::Response& res)
bool move_group::ApplyPlanningSceneService::applyScene(moveit_msgs::srv::ApplyPlanningScene::Request& req,
moveit_msgs::srv::ApplyPlanningScene::Response& res)
{
if (!context_->planning_scene_monitor_)
{
Expand Down
2 changes: 1 addition & 1 deletion moveit_ros/move_group/src/default_capabilities/apply_planning_scene_service_capability.h
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Expand Up @@ -54,7 +54,7 @@ class ApplyPlanningSceneService : public MoveGroupCapability
void initialize() override;

private:
bool applyScene(moveit_msgs::ApplyPlanningScene::Request& req, moveit_msgs::ApplyPlanningScene::Response& res);
bool applyScene(moveit_msgs::srv::ApplyPlanningScene::Request& req, moveit_msgs::srv::ApplyPlanningScene::Response& res);

ros::ServiceServer service_;
};
Expand Down
4 changes: 2 additions & 2 deletions moveit_ros/move_group/src/default_capabilities/cartesian_path_service_capability.cpp
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Expand Up @@ -70,8 +70,8 @@ bool isStateValid(const planning_scene::PlanningScene* planning_scene,
}
}

bool move_group::MoveGroupCartesianPathService::computeService(moveit_msgs::GetCartesianPath::Request& req,
moveit_msgs::GetCartesianPath::Response& res)
bool move_group::MoveGroupCartesianPathService::computeService(moveit_msgs::srv::GetCartesianPath::Request& req,
moveit_msgs::srv::GetCartesianPath::Response& res)
{
ROS_INFO("Received request to compute Cartesian path");
context_->planning_scene_monitor_->updateFrameTransforms();
Expand Down
2 changes: 1 addition & 1 deletion moveit_ros/move_group/src/default_capabilities/cartesian_path_service_capability.h
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Expand Up @@ -50,7 +50,7 @@ class MoveGroupCartesianPathService : public MoveGroupCapability
void initialize() override;

private:
bool computeService(moveit_msgs::GetCartesianPath::Request& req, moveit_msgs::GetCartesianPath::Response& res);
bool computeService(moveit_msgs::srv::GetCartesianPath::Request& req, moveit_msgs::srv::GetCartesianPath::Response& res);

ros::ServiceServer cartesian_path_service_;
ros::Publisher display_path_;
Expand Down
6 changes: 3 additions & 3 deletions moveit_ros/move_group/src/default_capabilities/execute_trajectory_service_capability.cpp
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Expand Up @@ -57,15 +57,15 @@ void move_group::MoveGroupExecuteService::initialize()
// execution of the main spinner thread.
// Hence, we use our own asynchronous spinner listening to our own callback queue.
ros::AdvertiseServiceOptions ops;
ops.template init<moveit_msgs::ExecuteKnownTrajectory::Request, moveit_msgs::ExecuteKnownTrajectory::Response>(
ops.template init<moveit_msgs::srv::ExecuteKnownTrajectory::Request, moveit_msgs::srv::ExecuteKnownTrajectory::Response>(
EXECUTE_SERVICE_NAME, boost::bind(&MoveGroupExecuteService::executeTrajectoryService, this, _1, _2));
ops.callback_queue = &callback_queue_;
execute_service_ = root_node_handle_.advertiseService(ops);
spinner_.start();
}

bool move_group::MoveGroupExecuteService::executeTrajectoryService(moveit_msgs::ExecuteKnownTrajectory::Request& req,
moveit_msgs::ExecuteKnownTrajectory::Response& res)
bool move_group::MoveGroupExecuteService::executeTrajectoryService(moveit_msgs::srv::ExecuteKnownTrajectory::Request& req,
moveit_msgs::srv::ExecuteKnownTrajectory::Response& res)
{
ROS_INFO("Received new trajectory execution service request...");
if (!context_->trajectory_execution_manager_)
Expand Down
4 changes: 2 additions & 2 deletions moveit_ros/move_group/src/default_capabilities/get_planning_scene_service_capability.cpp
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Expand Up @@ -48,8 +48,8 @@ void move_group::MoveGroupGetPlanningSceneService::initialize()
GET_PLANNING_SCENE_SERVICE_NAME, &MoveGroupGetPlanningSceneService::getPlanningSceneService, this);
}

bool move_group::MoveGroupGetPlanningSceneService::getPlanningSceneService(moveit_msgs::GetPlanningScene::Request& req,
moveit_msgs::GetPlanningScene::Response& res)
bool move_group::MoveGroupGetPlanningSceneService::getPlanningSceneService(moveit_msgs::srv::GetPlanningScene::Request& req,
moveit_msgs::srv::GetPlanningScene::Response& res)
{
if (req.components.components & moveit_msgs::PlanningSceneComponents::TRANSFORMS)
context_->planning_scene_monitor_->updateFrameTransforms();
Expand Down
4 changes: 2 additions & 2 deletions moveit_ros/move_group/src/default_capabilities/get_planning_scene_service_capability.h
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Expand Up @@ -50,8 +50,8 @@ class MoveGroupGetPlanningSceneService : public MoveGroupCapability
void initialize() override;

private:
bool getPlanningSceneService(moveit_msgs::GetPlanningScene::Request& req,
moveit_msgs::GetPlanningScene::Response& res);
bool getPlanningSceneService(moveit_msgs::srv::GetPlanningScene::Request& req,
moveit_msgs::srv::GetPlanningScene::Response& res);

ros::ServiceServer get_scene_service_;
};
Expand Down
8 changes: 4 additions & 4 deletions moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.cpp
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Expand Up @@ -140,8 +140,8 @@ void move_group::MoveGroupKinematicsService::computeIK(
error_code.val = moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME;
}

bool move_group::MoveGroupKinematicsService::computeIKService(moveit_msgs::GetPositionIK::Request& req,
moveit_msgs::GetPositionIK::Response& res)
bool move_group::MoveGroupKinematicsService::computeIKService(moveit_msgs::srv::GetPositionIK::Request& req,
moveit_msgs::srv::GetPositionIK::Response& res)
{
context_->planning_scene_monitor_->updateFrameTransforms();

Expand Down Expand Up @@ -169,8 +169,8 @@ bool move_group::MoveGroupKinematicsService::computeIKService(moveit_msgs::GetPo
return true;
}

bool move_group::MoveGroupKinematicsService::computeFKService(moveit_msgs::GetPositionFK::Request& req,
moveit_msgs::GetPositionFK::Response& res)
bool move_group::MoveGroupKinematicsService::computeFKService(moveit_msgs::srv::GetPositionFK::Request& req,
moveit_msgs::srv::GetPositionFK::Response& res)
{
if (req.fk_link_names.empty())
{
Expand Down
4 changes: 2 additions & 2 deletions moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.h
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Expand Up @@ -51,8 +51,8 @@ class MoveGroupKinematicsService : public MoveGroupCapability
void initialize() override;

private:
bool computeIKService(moveit_msgs::GetPositionIK::Request& req, moveit_msgs::GetPositionIK::Response& res);
bool computeFKService(moveit_msgs::GetPositionFK::Request& req, moveit_msgs::GetPositionFK::Response& res);
bool computeIKService(moveit_msgs::srv::GetPositionIK::Request& req, moveit_msgs::srv::GetPositionIK::Response& res);
bool computeFKService(moveit_msgs::srv::GetPositionFK::Request& req, moveit_msgs::srv::GetPositionFK::Response& res);

void computeIK(
moveit_msgs::PositionIKRequest& req, moveit_msgs::RobotState& solution, moveit_msgs::MoveItErrorCodes& error_code,
Expand Down
4 changes: 2 additions & 2 deletions moveit_ros/move_group/src/default_capabilities/plan_service_capability.cpp
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Expand Up @@ -48,8 +48,8 @@ void move_group::MoveGroupPlanService::initialize()
root_node_handle_.advertiseService(PLANNER_SERVICE_NAME, &MoveGroupPlanService::computePlanService, this);
}

bool move_group::MoveGroupPlanService::computePlanService(moveit_msgs::GetMotionPlan::Request& req,
moveit_msgs::GetMotionPlan::Response& res)
bool move_group::MoveGroupPlanService::computePlanService(moveit_msgs::srv::GetMotionPlan::Request& req,
moveit_msgs::srv::GetMotionPlan::Response& res)
{
ROS_INFO("Received new planning service request...");
// before we start planning, ensure that we have the latest robot state received...
Expand Down
2 changes: 1 addition & 1 deletion moveit_ros/move_group/src/default_capabilities/plan_service_capability.h
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Expand Up @@ -50,7 +50,7 @@ class MoveGroupPlanService : public MoveGroupCapability
void initialize() override;

private:
bool computePlanService(moveit_msgs::GetMotionPlan::Request& req, moveit_msgs::GetMotionPlan::Response& res);
bool computePlanService(moveit_msgs::srv::GetMotionPlan::Request& req, moveit_msgs::srv::GetMotionPlan::Response& res);

ros::ServiceServer plan_service_;
};
Expand Down
12 changes: 6 additions & 6 deletions moveit_ros/move_group/src/default_capabilities/query_planners_service_capability.cpp
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Expand Up @@ -53,8 +53,8 @@ void move_group::MoveGroupQueryPlannersService::initialize()
&MoveGroupQueryPlannersService::setParams, this);
}

bool move_group::MoveGroupQueryPlannersService::queryInterface(moveit_msgs::QueryPlannerInterfaces::Request& req,
moveit_msgs::QueryPlannerInterfaces::Response& res)
bool move_group::MoveGroupQueryPlannersService::queryInterface(moveit_msgs::srv::QueryPlannerInterfaces::Request& req,
moveit_msgs::srv::QueryPlannerInterfaces::Response& res)
{
const planning_interface::PlannerManagerPtr& planner_interface = context_->planning_pipeline_->getPlannerManager();
if (planner_interface)
Expand All @@ -69,8 +69,8 @@ bool move_group::MoveGroupQueryPlannersService::queryInterface(moveit_msgs::Quer
return true;
}

bool move_group::MoveGroupQueryPlannersService::getParams(moveit_msgs::GetPlannerParams::Request& req,
moveit_msgs::GetPlannerParams::Response& res)
bool move_group::MoveGroupQueryPlannersService::getParams(moveit_msgs::srv::GetPlannerParams::Request& req,
moveit_msgs::srv::GetPlannerParams::Response& res)
{
const planning_interface::PlannerManagerPtr& planner_interface = context_->planning_pipeline_->getPlannerManager();
if (planner_interface)
Expand Down Expand Up @@ -100,8 +100,8 @@ bool move_group::MoveGroupQueryPlannersService::getParams(moveit_msgs::GetPlanne
return true;
}

bool move_group::MoveGroupQueryPlannersService::setParams(moveit_msgs::SetPlannerParams::Request& req,
moveit_msgs::SetPlannerParams::Response& res)
bool move_group::MoveGroupQueryPlannersService::setParams(moveit_msgs::srv::SetPlannerParams::Request& req,
moveit_msgs::srv::SetPlannerParams::Response& res)
{
const planning_interface::PlannerManagerPtr& planner_interface = context_->planning_pipeline_->getPlannerManager();
if (req.params.keys.size() != req.params.values.size())
Expand Down
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