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feat: add remapping argument to MoveItPy initialization #3367

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feat: add remapping argument to MoveItPy initialization #3367

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55111d2
feat: add remapping argument
KazuyaOguma18 Feb 26, 2025
6c2d084
reformat
KazuyaOguma18 Feb 26, 2025
04fb271
Merge branch 'main' into moveitpy-remapping
KazuyaOguma18 Feb 27, 2025
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21 changes: 19 additions & 2 deletions moveit_py/src/moveit/moveit_ros/moveit_cpp/moveit_cpp.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,9 @@
/* Author: Peter David Fagan */

#include "moveit_cpp.hpp"
#include <pybind11/pytypes.h>
#include <moveit/utils/logger.hpp>
#include <string>

namespace moveit_py
{
Expand All @@ -62,7 +64,7 @@ void initMoveitPy(py::module& m)

.def(py::init([](const std::string& node_name, const std::string& name_space,
const std::vector<std::string>& launch_params_filepaths, const py::object& config_dict,
bool provide_planning_service) {
bool provide_planning_service, const py::object& remappings) {
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Just use a std::map as argument here. This simplifies casting code below.
Wrapping the map into std::optional allows to handle None values.

Suggested change
bool provide_planning_service, const py::object& remappings) {
bool provide_planning_service, const std::optional<std::map<std::string, std::string>>& remappings) {

// This section is used to load the appropriate node parameters before spinning a moveit_cpp instance
// Priority is given to parameters supplied directly via a config_dict, followed by launch parameters
// and finally no supplied parameters.
Expand All @@ -85,6 +87,21 @@ void initMoveitPy(py::module& m)
}
}

if (py::isinstance<py::list>(remappings))
{
for (auto item : remappings)
{
py::tuple item_tuple = item.cast<py::tuple>();
if (item_tuple.size() != 2)
{
throw std::runtime_error("Remapping must be a list of tuples with 2 elements");
}
launch_arguments.push_back("--remap");
launch_arguments.push_back(item_tuple[0].cast<std::string>() +
":=" + item_tuple[1].cast<std::string>());
}
}

Comment on lines +90 to +104
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Suggested change
if (py::isinstance<py::list>(remappings))
{
for (auto item : remappings)
{
py::tuple item_tuple = item.cast<py::tuple>();
if (item_tuple.size() != 2)
{
throw std::runtime_error("Remapping must be a list of tuples with 2 elements");
}
launch_arguments.push_back("--remap");
launch_arguments.push_back(item_tuple[0].cast<std::string>() +
":=" + item_tuple[1].cast<std::string>());
}
}
if (remappings.has_value())
{
for (const auto &[key, value]: remappings)
{
launch_arguments.push_back("--remap");
launch_arguments.push_back(key + ":=" + value);
}
}

// Initialize ROS, pass launch arguments with rclcpp::init()
if (!rclcpp::ok())
{
Expand Down Expand Up @@ -138,7 +155,7 @@ void initMoveitPy(py::module& m)
py::arg("launch_params_filepaths") =
utils.attr("get_launch_params_filepaths")().cast<std::vector<std::string>>(),
py::arg("config_dict") = py::none(), py::arg("provide_planning_service") = true,
py::return_value_policy::take_ownership,
py::arg("remappings") = py::none(), py::return_value_policy::take_ownership,
R"(
Initialize moveit_cpp node and the planning scene service.
)")
Expand Down
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