Allow users to (dis)allow collisions with an object

CMakeLists.txt

@@ -11,6 +11,7 @@ ament_python_install_package(pymoveit2)
 # Install examples
 set(EXAMPLES_DIR examples)
 install(PROGRAMS
+    ${EXAMPLES_DIR}/ex_allow_collisions.py
     ${EXAMPLES_DIR}/ex_collision_mesh.py
     ${EXAMPLES_DIR}/ex_collision_primitive.py
     ${EXAMPLES_DIR}/ex_fk.py

examples/ex_allow_collisions.py

@@ -0,0 +1,70 @@
+#!/usr/bin/env python3
+"""
+Example of adding and removing a collision object with a primitive geometry.
+- ros2 run pymoveit2 ex_allow_collisions.py --ros-args -p id:="sphere" -p allow:=true
+- ros2 run pymoveit2 ex_allow_collisions.py --ros-args -p id:="sphere" -p allow:=false
+"""
+
+from threading import Thread
+
+import rclpy
+from rclpy.callback_groups import ReentrantCallbackGroup
+from rclpy.node import Node
+
+from pymoveit2 import MoveIt2
+from pymoveit2.robots import panda
+
+
+def main():
+    rclpy.init()
+
+    # Create node for this example
+    node = Node("ex_allow_collisions")
+
+    # Declare parameter for joint positions
+    node.declare_parameter(
+        "id",
+        "box",
+    )
+    node.declare_parameter(
+        "allow",
+        True,
+    )
+
+    # Create callback group that allows execution of callbacks in parallel without restrictions
+    callback_group = ReentrantCallbackGroup()
+
+    # Create MoveIt 2 interface
+    moveit2 = MoveIt2(
+        node=node,
+        joint_names=panda.joint_names(),
+        base_link_name=panda.base_link_name(),
+        end_effector_name=panda.end_effector_name(),
+        group_name=panda.MOVE_GROUP_ARM,
+        callback_group=callback_group,
+    )
+
+    # Spin the node in background thread(s) and wait a bit for initialization
+    executor = rclpy.executors.MultiThreadedExecutor(2)
+    executor.add_node(node)
+    executor_thread = Thread(target=executor.spin, daemon=True, args=())
+    executor_thread.start()
+    node.create_rate(1.0).sleep()
+
+    # Get parameters
+    object_id = node.get_parameter("id").get_parameter_value().string_value
+    allow = node.get_parameter("allow").get_parameter_value().bool_value
+
+    # (Dis)allow collisions
+    moveit2.allow_collisions(object_id, allow)
+    node.get_logger().info(
+        f"{'Allow' if allow else 'Disallow'}ed collisions between all objects and '{object_id}'"
+    )
+
+    rclpy.shutdown()
+    executor_thread.join()
+    exit(0)
+
+
+if __name__ == "__main__":
+    main()

pymoveit2/moveit2.py

@@ -1,3 +1,4 @@
+import copy
 import threading
 from enum import Enum
 from typing import List, Optional, Tuple, Union
@@ -6,6 +7,7 @@
 from geometry_msgs.msg import Point, Pose, PoseStamped, Quaternion
 from moveit_msgs.action import ExecuteTrajectory, MoveGroup
 from moveit_msgs.msg import (
+    AllowedCollisionEntry,
     AttachedCollisionObject,
     CollisionObject,
     Constraints,
@@ -15,8 +17,10 @@
     PositionConstraint,
 )
 from moveit_msgs.srv import (
+    ApplyPlanningScene,
     GetCartesianPath,
     GetMotionPlan,
+    GetPlanningScene,
     GetPositionFK,
     GetPositionIK,
 )
@@ -221,6 +225,34 @@ def __init__(
             callback_group=self._callback_group,
         )
 
+        # Create a service for getting the planning scene
+        self._get_planning_scene_service = self._node.create_client(
+            srv_type=GetPlanningScene,
+            srv_name="get_planning_scene",
+            qos_profile=QoSProfile(
+                durability=QoSDurabilityPolicy.VOLATILE,
+                reliability=QoSReliabilityPolicy.RELIABLE,
+                history=QoSHistoryPolicy.KEEP_LAST,
+                depth=1,
+            ),
+            callback_group=callback_group,
+        )
+        self.__planning_scene = None
+        self.__old_allowed_collision_matrix = None
+
+        # Create a service for applying the planning scene
+        self._apply_planning_scene_service = self._node.create_client(
+            srv_type=ApplyPlanningScene,
+            srv_name="apply_planning_scene",
+            qos_profile=QoSProfile(
+                durability=QoSDurabilityPolicy.VOLATILE,
+                reliability=QoSReliabilityPolicy.RELIABLE,
+                history=QoSHistoryPolicy.KEEP_LAST,
+                depth=1,
+            ),
+            callback_group=callback_group,
+        )
+
         self.__collision_object_publisher = self._node.create_publisher(
             CollisionObject, "/collision_object", 10
         )
@@ -1691,6 +1723,90 @@ def detach_all_collision_objects(self):
         )
         self.__attached_collision_object_publisher.publish(msg)
 
+    def __update_planning_scene(self) -> bool:
+        """
+        Gets the current planning scene. Returns whether the service call was
+        successful.
+        """
+
+        if not self._get_planning_scene_service.service_is_ready():
+            self._node.get_logger().warn(
+                f"Service '{self._get_planning_scene_service.srv_name}' is not yet available. Better luck next time!"
+            )
+            return False
+        self.__planning_scene = self._get_planning_scene_service.call(
+            GetPlanningScene.Request()
+        ).scene
+        return True
+
+    def allow_collisions(self, id: str, allow: bool) -> Optional[Future]:
+        """
+        Takes in the ID of an element in the planning scene. Modifies the allowed
+        collision matrix to (dis)allow collisions between that object and all other
+        object.
+
+        If `allow` is True, a plan will succeed even if the robot collides with that object.
+        If `allow` is False, a plan will fail if the robot collides with that object.
+        Returns whether it successfully updated the allowed collision matrix.
+
+        Returns the future of the service call.
+        """
+        # Update the planning scene
+        if not self.__update_planning_scene():
+            return None
+        allowed_collision_matrix = self.__planning_scene.allowed_collision_matrix
+        self.__old_allowed_collision_matrix = copy.deepcopy(allowed_collision_matrix)
+
+        # Get the location in the allowed collision matrix of the object
+        j = None
+        if id not in allowed_collision_matrix.entry_names:
+            allowed_collision_matrix.entry_names.append(id)
+        else:
+            j = allowed_collision_matrix.entry_names.index(id)
+        # For all other objects, (dis)allow collisions with the object with `id`
+        for i in range(len(allowed_collision_matrix.entry_values)):
+            if j is None:
+                allowed_collision_matrix.entry_values[i].enabled.append(allow)
+            elif i != j:
+                allowed_collision_matrix.entry_values[i].enabled[j] = allow
+        # For the object with `id`, (dis)allow collisions with all other objects
+        allowed_collision_entry = AllowedCollisionEntry(
+            enabled=[allow for _ in range(len(allowed_collision_matrix.entry_names))]
+        )
+        if j is None:
+            allowed_collision_matrix.entry_values.append(allowed_collision_entry)
+        else:
+            allowed_collision_matrix.entry_values[j] = allowed_collision_entry
+
+        # Apply the new planning scene
+        if not self._apply_planning_scene_service.service_is_ready():
+            self._node.get_logger().warn(
+                f"Service '{self._apply_planning_scene_service.srv_name}' is not yet available. Better luck next time!"
+            )
+            return None
+        return self._apply_planning_scene_service.call_async(
+            ApplyPlanningScene.Request(scene=self.__planning_scene)
+        )
+
+    def process_allow_collision_future(self, future: Future) -> bool:
+        """
+        Return whether the allow collision service call is done and has succeeded
+        or not. If it failed, reset the allowed collision matrix to the old one.
+        """
+        if not future.done():
+            return False
+
+        # Get response
+        resp = future.result()
+
+        # If it failed, restore the old planning scene
+        if not resp.success:
+            self.__planning_scene.allowed_collision_matrix = (
+                self.__old_allowed_collision_matrix
+            )
+
+        return resp.success
+
     def __joint_state_callback(self, msg: JointState):
         # Update only if all relevant joints are included in the message
         for joint_name in self.joint_names:
@@ -1800,7 +1916,6 @@ def _send_goal_async_move_action(self):
             )
             return
 
-        self.__last_error_code = None
         self.__is_motion_requested = True
         self.__send_goal_future_move_action = self.__move_action_client.send_goal_async(
             goal=self.__move_action_goal,
@@ -1862,7 +1977,6 @@ def _send_goal_async_execute_trajectory(
             )
             return
 
-        self.__last_error_code = None
         self.__is_motion_requested = True
         self.__send_goal_future_execute_trajectory = (
             self._execute_trajectory_action_client.send_goal_async(