добавлен полноценный модуль планирования траекторных перемещений. Необходимо его оформить правильным образом

src/iiwa_bringup/launch/digital_twin.launch.py

@@ -93,9 +93,9 @@ def _runtime_setup(context, *args, **kwatgs):
 
     # TODO: не забудь поменять правильное название и имя пакета
     moveit_py_node = Node(
-        name="moveit_py",
+        # name="motion_planning_node",
         package="iiwa_planning",
-        executable="motion_planning_test",
+        executable="motion_planning",
         output="both",
         parameters=[moveit_configs.to_dict()],
     )

src/iiwa_planning/CMakeLists.txt

@@ -16,9 +16,10 @@ include_directories(include)
 ament_python_install_package(${PROJECT_NAME})
 
 install(PROGRAMS
-  scripts/motion_planning_test.py
+  # scripts/motion_planning_test.py
+  scripts/motion_planning.py
   DESTINATION lib/${PROJECT_NAME}
-  RENAME motion_planning_test
+  RENAME motion_planning
 )
 
 

src/iiwa_planning/scripts/motion_planning.py

@@ -0,0 +1,128 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+from moveit.core.robot_state import RobotState
+from moveit.planning import MoveItPy, PlanningComponent
+from geometry_msgs.msg import PoseStamped
+from rclpy.executors import ExternalShutdownException
+from tf_transformations import quaternion_from_euler
+
+
+class MotionPlaning(Node):
+    def __init__(self):
+        super().__init__("motion_planning_node")
+
+        self.moveit = MoveItPy(node_name="motion_planning_node")
+        self.robot_arm = self.moveit.get_planning_component("iiwa_arm")
+        self.planning_scene_monitor = self.moveit.get_planning_scene_monitor()
+
+        self.get_logger().warn("***********************************************************")
+        self.get_logger().info("MotionPlanning node is ready...")
+        self.get_logger().warn("***********************************************************")
+        # self.robot_arm.set_start_state(configuration_name="home")
+        # self.robot_arm.set_goal_state(configuration_name="work")
+        # self.plan_end_execute()
+
+        self.timer = self.create_timer(5.0, self._run_once)
+
+    def _run_once(self):
+        self.timer.cancel()
+        self.handle_plan_execute_pose(0.677, 0.25, 0.21, 3.14, 0, 3.14)
+
+
+    def handle_plan_execute_pose(self, x, y, z, a, b, c):
+        
+        pose_goal = PoseStamped()
+        pose_goal.header.frame_id="base_link"
+        pose_goal.header.stamp = self.get_clock().now().to_msg()
+        pose_goal.pose.position.x=x
+        pose_goal.pose.position.y=y
+        pose_goal.pose.position.z=z
+
+        xx, yy, zz, w = quaternion_from_euler(a, b, c)
+
+        pose_goal.pose.orientation.x=xx
+        pose_goal.pose.orientation.y=yy
+        pose_goal.pose.orientation.z=zz
+        pose_goal.pose.orientation.w=w
+
+        # Check collisions
+        with self.planning_scene_monitor.read_only() as scene:
+            
+            robot_state = scene.current_state
+            original_joint_positions = robot_state.get_joint_group_positions("iiwa_arm")
+
+            ok_ik = robot_state.set_from_ik("iiwa_arm", pose_goal.pose, "link_ee")
+            robot_state.update() 
+
+            if not ok_ik:
+                self.get_logger().warn("***********************************************************")
+                self.get_logger().error("IK failed -> abort")
+                self.get_logger().warn("***********************************************************")
+                return
+
+            robot_collision_status = scene.is_state_colliding(
+                robot_state=robot_state, 
+                joint_model_group_name="iiwa_arm", 
+                verbose=True
+            )
+            if robot_collision_status:
+                self.get_logger().warn("***********************************************************")
+                self.get_logger().error("Goal in collision -> abort")
+                self.get_logger().warn("***********************************************************")
+                return
+
+            self.get_logger().warn("***********************************************************")
+            self.get_logger().info(f"\nRobot is in collision: {robot_collision_status}\n")
+            self.get_logger().warn("***********************************************************")
+
+            robot_state.set_joint_group_positions(
+                "iiwa_arm",
+                original_joint_positions,
+            )
+            robot_state.update() 
+
+        # получить текущее состояние как изначальное для перемещения
+        self.robot_arm.set_start_state_to_current_state()
+        # self.robot_arm.set_start_state(configuration_name="home")
+        # self.robot_arm.set_goal_state(configuration_name="work")
+
+        self.robot_arm.set_goal_state(
+            pose_stamped_msg=pose_goal, 
+            pose_link="link_ee"
+        )
+        self.plan_end_execute()
+
+
+    def plan_end_execute(self):
+        self.get_logger().warn("***********************************************************")
+        self.get_logger().info("Planning trajectory")
+        self.get_logger().warn("***********************************************************")
+
+        plan_result = self.robot_arm.plan()
+        if plan_result:
+            self.get_logger().warn("***********************************************************")
+            self.get_logger().info("Executing plan")
+            self.get_logger().warn("***********************************************************")
+            robot_trajectory = plan_result.trajectory
+            self.moveit.execute(robot_trajectory, controllers=[])
+        else:
+            self.get_logger().warn("***********************************************************")
+            self.get_logger().info("Planning failed")
+            self.get_logger().warn("***********************************************************")
+        
+
+def main(args=None):
+    try:
+        rclpy.init(args=args)
+        node = MotionPlaning()
+        rclpy.spin(node=node)
+        node.destroy_node()
+    except (KeyboardInterrupt, ExternalShutdownException):
+        pass
+    finally:
+        rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()

src/iiwa_utils/iiwa_utils/object_spawner.py

@@ -79,6 +79,9 @@ def main(args=None):
         rclpy.spin(node=node)
     except (KeyboardInterrupt, ExternalShutdownException):
         pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
 
 
 if __name__ == "__main__":