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Add parameter default_planning_scene to load planning scene geometry on startup #2949

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Add parameter default_planning_scene to load planning scene geometry on startup #2949

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91c18d1
Add parameter to load planning scene geometry on startup
pac48 Aug 5, 2024
36adcf4
add error check
pac48 Aug 5, 2024
3fbe0a8
fix potentially insecure
pac48 Aug 5, 2024
873bf5c
add python test launch file
pac48 Aug 5, 2024
a14e2c6
add test files
pac48 Aug 5, 2024
2f8b28d
test working unless run in parallel
pac48 Aug 5, 2024
8a0de0e
fix islated pytest
pac48 Aug 5, 2024
cbd89c5
add comments and fix isolated
pac48 Aug 6, 2024
5008dda
make test more robust
pac48 Aug 6, 2024
fc1bac2
add locked planning scene
pac48 Aug 6, 2024
b266f55
Merge branch 'main' into pr-load-default-planning-scene
sjahr Aug 7, 2024
55f066b
Merge branch 'main' into pr-load-default-planning-scene
sjahr Aug 7, 2024
a1cd7b0
Merge branch 'main' into pr-load-default-planning-scene
sjahr Oct 29, 2024
9afaaf5
Merge branch 'main' into pr-load-default-planning-scene
pac48 Nov 5, 2024
9b47cde
undo header change
pac48 Nov 5, 2024
4eef9ee
revert test changes
pac48 Nov 5, 2024
eb5e1e6
run format
pac48 Nov 5, 2024
7e4e0c6
add move_group_api.test.py back
pac48 Nov 5, 2024
6bd6775
Merge branch 'main' into pr-load-default-planning-scene
sjahr Nov 6, 2024
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20 changes: 19 additions & 1 deletion moveit_ros/move_group/src/move_group.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -290,8 +290,26 @@ int main(int argc, char** argv)
const auto moveit_cpp = std::make_shared<moveit_cpp::MoveItCpp>(nh, moveit_cpp_options);
const auto planning_scene_monitor = moveit_cpp->getPlanningSceneMonitorNonConst();

if (planning_scene_monitor->getPlanningScene())
if (auto ps = planning_scene_monitor->getPlanningScene())
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Given that ps is never used, would make sense to revert this change?

{
if (nh->has_parameter("default_planning_scene"))
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I am a bit concerned about tying this to only the existence of the parameter. How about checking whether or not the parameter is set.

const auto default_planning_scene_file = std::string();
nh->get_parameter_or("default_planning_scene", default_planning_scene_file, std::string());
// Maybe add function to validate the string pattern if it actually representing  path
if(validateFilePath(default_planning_scene_file))
{
...
}

{
std::string path = nh->get_parameter("default_planning_scene").as_string();
std::fstream file_stream;
file_stream.open(path, std::fstream::in);
planning_scene_monitor::LockedPlanningSceneRW locked_ps(planning_scene_monitor);
if (!file_stream.is_open() || !locked_ps->loadGeometryFromStream(file_stream))
{
RCLCPP_ERROR(nh->get_logger(), std::string("Failed to load the planning scene geometry from the file specified "
"by the `default_planning_scene` parameter. The "
"`default_planning_scene` parameter was set to ")
.append(path)
.append(".")
.c_str());

return 0;
}
}
bool debug = false;
for (int i = 1; i < argc; ++i)
{
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