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grasp_execution_action.cpp

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/*
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2011, Southwest Research Institute
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
 *
 *       * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *       * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *       * Neither the name of the Southwest Research Institute, nor the names
 *       of its contributors may be used to endorse or promote products derived
 *       from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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#include <ros/ros.h>
#include <actionlib/server/action_server.h>

#include <object_manipulation_msgs/GraspHandPostureExecutionAction.h>
#include "object_manipulation_msgs/GraspHandPostureExecutionGoal.h"
#include <simple_message/smpl_msg_connection.h>
#include <simple_message/simple_message.h>
#include <armadillo/armadillo.h>
#include <armadillo/messages/gripper_message.h>

using namespace object_manipulation_msgs;
using namespace actionlib;
using namespace industrial::smpl_msg_connection;
using namespace industrial::simple_message;
using namespace industrial::armadillo;
using namespace industrial::gripper_message;

class GraspExecutionAction
{
private:
  typedef ActionServer<GraspHandPostureExecutionAction> GEAS;
  typedef GEAS::GoalHandle GoalHandle;
public:
  GraspExecutionAction(ros::NodeHandle &n, SmplMsgConnection *robot) :
    node_(n),
    action_server_(node_, "grasp_execution_action",
                   boost::bind(&GraspExecutionAction::goalCB, this, _1),
                   boost::bind(&GraspExecutionAction::cancelCB, this, _1),
                   false)
  {
    ros::NodeHandle pn("~");

    robot_ = robot;
    robot_->makeConnect();
    action_server_.start();
    
    ROS_INFO("Grasp execution action node started");

    /*
    //A little bit of debug
    GripperMessage gMsg;
    SimpleMessage request;
    SimpleMessage reply;

    gMsg.init(GripperOperationTypes::INIT);
    gMsg.toRequest(request);
    this->robot_->sendAndReceiveMsg(request, reply);
    ROS_INFO("Gripper initialized");

    gMsg.init(GripperOperationTypes::CLOSE);
    gMsg.toRequest(request);
    this->robot_->sendAndReceiveMsg(request, reply);
    ROS_INFO("Gripper closed");

    gMsg.init(GripperOperationTypes::OPEN);
    gMsg.toRequest(request);
    this->robot_->sendAndReceiveMsg(request, reply);
    ROS_INFO("Gripper opened");
    */
  }

  ~GraspExecutionAction()
  {
  }

private:


  void goalCB(GoalHandle gh)
  {
    GripperMessage gMsg;
    SimpleMessage request;
    SimpleMessage reply;

    ROS_DEBUG("Received grasping goal");

    while (!(robot_->isConnected()))
    {
      ROS_DEBUG("Reconnecting");
      robot_->makeConnect();
    }
      

    switch(gh.getGoal()->goal)
    {
      case GraspHandPostureExecutionGoal::PRE_GRASP:

        gh.setAccepted();
        ROS_WARN("Pre-grasp is not supported by this gripper");
        gh.setSucceeded();
        break;

      case GraspHandPostureExecutionGoal::GRASP:
      case GraspHandPostureExecutionGoal::RELEASE:

        gh.setAccepted();
        switch(gh.getGoal()->goal)
        {
          case GraspHandPostureExecutionGoal::GRASP:
            ROS_INFO("Executing a gripper grasp");
            gMsg.init(GripperOperationTypes::CLOSE);
          case GraspHandPostureExecutionGoal::RELEASE:
            ROS_INFO("Executing a gripper release");
            gMsg.init(GripperOperationTypes::OPEN);
        }
        gMsg.toRequest(request);
        this->robot_->sendAndReceiveMsg(request, reply);

        switch(reply.getReplyCode())
        {
          case ReplyTypes::SUCCESS:
            ROS_INFO("Robot gripper returned success");
            gh.setSucceeded();
          case ReplyTypes::FAILURE:
            ROS_ERROR("Robot gripper returned failure");
            gh.setCanceled();
        }
        break;

          default:
            gh.setRejected();

    }
  }

  void cancelCB(GoalHandle gh)
  {
    ROS_ERROR("Action cancel not supported for grasp execution action");
    gh.setRejected();
  }


  ros::NodeHandle node_;
  GEAS action_server_;

  industrial::smpl_msg_connection::SmplMsgConnection *robot_;

};


#include <simple_message/socket/tcp_client.h>

int main(int argc, char** argv)
{
  ros::init(argc, argv, "grasp_execution_action_node");
  ros::NodeHandle node;
  industrial::tcp_client::TcpClient robot;

  robot.init("192.168.10.3", industrial::simple_socket::StandardSocketPorts::IO);
  GraspExecutionAction ge(node, &robot);

  ros::spin();

  return 0;
}

---

armadillo
Author(s): Shaun Edwards
autogenerated on Mon Mar 4 11:41:10 2013