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[Servo] Fix collision checking with attached objects #2747

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merged 3 commits into from
Mar 19, 2024
Merged

[Servo] Fix collision checking with attached objects #2747

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0c80767
[Servo] Fix collision checking with attached objects
sea-bass Mar 18, 2024
0deb3ff
Remove debug lines
sea-bass Mar 18, 2024
f1204f6
Add note about issue with current state monitor
sea-bass Mar 19, 2024
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3 changes: 2 additions & 1 deletion moveit_ros/moveit_servo/include/moveit_servo/collision_monitor.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -67,8 +67,9 @@ class CollisionMonitor
// Variables

const servo::Params& servo_params_;
moveit::core::RobotStatePtr robot_state_;

const planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
moveit::core::RobotState robot_state_;

// The collision monitor thread.
std::thread monitor_thread_;
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12 changes: 8 additions & 4 deletions moveit_ros/moveit_servo/src/collision_monitor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -55,6 +55,7 @@ CollisionMonitor::CollisionMonitor(const planning_scene_monitor::PlanningSceneMo
const servo::Params& servo_params, std::atomic<double>& collision_velocity_scale)
: servo_params_(servo_params)
, planning_scene_monitor_(planning_scene_monitor)
, robot_state_(planning_scene_monitor->getPlanningScene()->getCurrentState())
, collision_velocity_scale_(collision_velocity_scale)
{
scene_collision_request_.distance = true;
Expand Down Expand Up @@ -105,22 +106,25 @@ void CollisionMonitor::checkCollisions()
if (servo_params_.check_collisions)
{
// Fetch latest robot state.
robot_state_ = planning_scene_monitor_->getStateMonitor()->getCurrentState();
robot_state_ = planning_scene_monitor_->getPlanningScene()->getCurrentState();
// This must be called before doing collision checking.
robot_state_->updateCollisionBodyTransforms();
std::vector<const moveit::core::AttachedBody*> bodies;
robot_state_.getAttachedBodies(bodies);
RCLCPP_ERROR(getLogger(), "SCASTRO Servo Attached bodies: %ld", bodies.size());
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robot_state_.updateCollisionBodyTransforms();

// Get a read-only copy of planning scene.
planning_scene_monitor::LockedPlanningSceneRO locked_scene(planning_scene_monitor_);

// Check collision with environment.
scene_collision_result_.clear();
locked_scene->getCollisionEnv()->checkRobotCollision(scene_collision_request_, scene_collision_result_,
*robot_state_, locked_scene->getAllowedCollisionMatrix());
robot_state_, locked_scene->getAllowedCollisionMatrix());

// Check robot self collision.
self_collision_result_.clear();
locked_scene->getCollisionEnvUnpadded()->checkSelfCollision(
self_collision_request_, self_collision_result_, *robot_state_, locked_scene->getAllowedCollisionMatrix());
self_collision_request_, self_collision_result_, robot_state_, locked_scene->getAllowedCollisionMatrix());

// If collision detected scale velocity to 0, else start decelerating exponentially.
// velocity_scale = e ^ k * (collision_distance - threshold)
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