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remove dead pick and place code (#3025)
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most of the other stuff was removed as part of #1177
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@mikeferguson
mikeferguson authored Oct 11, 2024
1 parent 9f00fd0 commit 865ad36
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4 changes: 0 additions & 4 deletions ...interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
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Original file line number Diff line number Diff line change
Expand Up @@ -302,10 +302,6 @@ class MOVEIT_MOVE_GROUP_INTERFACE_EXPORT MoveGroupInterface
/** \brief Set the starting state for planning to be that reported by the robot's joint state publication */
void setStartStateToCurrentState();

/** \brief For pick/place operations, the name of the support surface is used to specify the fact that attached
* objects are allowed to touch the support surface */
void setSupportSurfaceName(const std::string& name);

/**
* \name Setting a joint state target (goal)
*
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106 changes: 0 additions & 106 deletions moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -585,11 +585,6 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
pose_reference_frame_ = pose_reference_frame;
}

void setSupportSurfaceName(const std::string& support_surface)
{
support_surface_ = support_surface;
}

const std::string& getPoseReferenceFrame() const
{
return pose_reference_frame_;
Expand Down Expand Up @@ -1083,61 +1078,6 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
constructMotionPlanRequest(goal.request);
}

// moveit_msgs::action::Pickup::Goal constructPickupGoal(const std::string& object,
// std::vector<moveit_msgs::msg::Grasp>&& grasps,
// bool plan_only = false) const
// {
// moveit_msgs::action::Pickup::Goal goal;
// goal.target_name = object;
// goal.group_name = opt_.group_name;
// goal.end_effector = getEndEffector();
// goal.support_surface_name = support_surface_;
// goal.possible_grasps = std::move(grasps);
// if (!support_surface_.empty())
// goal.allow_gripper_support_collision = true;
//
// if (path_constraints_)
// goal.path_constraints = *path_constraints_;
//
// goal.planner_id = planner_id_;
// goal.allowed_planning_time = allowed_planning_time_;
//
// goal.planning_options.plan_only = plan_only;
// goal.planning_options.look_around = can_look_;
// goal.planning_options.replan = can_replan_;
// goal.planning_options.replan_delay = replan_delay_;
// goal.planning_options.planning_scene_diff.is_diff = true;
// goal.planning_options.planning_scene_diff.robot_state.is_diff = true;
// return goal;
// }

// moveit_msgs::action::Place::Goal constructPlaceGoal(const std::string& object,
// std::vector<moveit_msgs::msg::PlaceLocation>&& locations,
// bool plan_only = false) const
// {
// moveit_msgs::action::Place::Goal goal;
// goal.group_name = opt_.group_name;
// goal.attached_object_name = object;
// goal.support_surface_name = support_surface_;
// goal.place_locations = std::move(locations);
// if (!support_surface_.empty())
// goal.allow_gripper_support_collision = true;
//
// if (path_constraints_)
// goal.path_constraints = *path_constraints_;
//
// goal.planner_id = planner_id_;
// goal.allowed_planning_time = allowed_planning_time_;
//
// goal.planning_options.plan_only = plan_only;
// goal.planning_options.look_around = can_look_;
// goal.planning_options.replan = can_replan_;
// goal.planning_options.replan_delay = replan_delay_;
// goal.planning_options.planning_scene_diff.is_diff = true;
// goal.planning_options.planning_scene_diff.robot_state.is_diff = true;
// return goal;
// }

void setPathConstraints(const moveit_msgs::msg::Constraints& constraint)
{
path_constraints_ = std::make_unique<moveit_msgs::msg::Constraints>(constraint);
Expand Down Expand Up @@ -1308,7 +1248,6 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
std::unique_ptr<moveit_msgs::msg::TrajectoryConstraints> trajectory_constraints_;
std::string end_effector_link_;
std::string pose_reference_frame_;
std::string support_surface_;

// ROS communication
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr trajectory_event_publisher_;
Expand Down Expand Up @@ -1511,46 +1450,6 @@ moveit::core::MoveItErrorCode MoveGroupInterface::plan(Plan& plan)
return impl_->plan(plan);
}

// moveit_msgs::action::Pickup::Goal MoveGroupInterface::constructPickupGoal(const std::string& object,
// std::vector<moveit_msgs::msg::Grasp> grasps,
// bool plan_only = false) const
//{
// return impl_->constructPickupGoal(object, std::move(grasps), plan_only);
//}
//
// moveit_msgs::action::Place::Goal MoveGroupInterface::constructPlaceGoal(
// const std::string& object, std::vector<moveit_msgs::msg::PlaceLocation> locations, bool plan_only = false) const
//{
// return impl_->constructPlaceGoal(object, std::move(locations), plan_only);
//}
//
// std::vector<moveit_msgs::msg::PlaceLocation>
// MoveGroupInterface::posesToPlaceLocations(const std::vector<geometry_msgs::msg::PoseStamped>& poses) const
//{
// return impl_->posesToPlaceLocations(poses);
//}
//
// moveit::core::MoveItErrorCode MoveGroupInterface::pick(const moveit_msgs::action::Pickup::Goal& goal)
//{
// return impl_->pick(goal);
//}
//
// moveit::core::MoveItErrorCode MoveGroupInterface::planGraspsAndPick(const std::string& object, bool plan_only)
//{
// return impl_->planGraspsAndPick(object, plan_only);
//}
//
// moveit::core::MoveItErrorCode MoveGroupInterface::planGraspsAndPick(const moveit_msgs::msg::CollisionObject& object,
// bool plan_only)
//{
// return impl_->planGraspsAndPick(object, plan_only);
//}
//
// moveit::core::MoveItErrorCode MoveGroupInterface::place(const moveit_msgs::action::Place::Goal& goal)
//{
// return impl_->place(goal);
//}

double MoveGroupInterface::computeCartesianPath(const std::vector<geometry_msgs::msg::Pose>& waypoints, double eef_step,
moveit_msgs::msg::RobotTrajectory& trajectory, bool avoid_collisions,
moveit_msgs::msg::MoveItErrorCodes* error_code)
Expand Down Expand Up @@ -2310,11 +2209,6 @@ double MoveGroupInterface::getPlanningTime() const
return impl_->getPlanningTime();
}

void MoveGroupInterface::setSupportSurfaceName(const std::string& name)
{
impl_->setSupportSurfaceName(name);
}

const rclcpp::Node::SharedPtr& MoveGroupInterface::getNode() const
{
return impl_->node_;
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