katana_openrave_kinematics.cpp File Reference

#include <ros/ros.h>
#include <urdf/joint.h>
#include <urdf/model.h>
#include <kinematics_msgs/GetConstraintAwarePositionIK.h>
#include <kinematics_msgs/GetPositionIK.h>
#include <kinematics_msgs/GetKinematicSolverInfo.h>
#include <arm_navigation_msgs/JointLimits.h>
#include <orrosplanning/IK.h>

Include dependency graph for katana_openrave_kinematics.cpp:

Go to the source code of this file.

Functions
bool	get_kinematic_solver_info (kinematics_msgs::GetKinematicSolverInfo::Request &req, kinematics_msgs::GetKinematicSolverInfo::Response &res)
bool	getOpenRaveIK (kinematics_msgs::GetConstraintAwarePositionIK::Request &req, kinematics_msgs::GetConstraintAwarePositionIK::Response &resp)
int	main (int argc, char **argv)
Variables
ros::ServiceClient	client_
ros::ServiceServer	ikService
ros::ServiceServer	infoService
std::vector < arm_navigation_msgs::JointLimits >	joint_limits_
std::vector< std::string >	joint_names_

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Function Documentation

bool get_kinematic_solver_info	(	kinematics_msgs::GetKinematicSolverInfo::Request &	req,
		kinematics_msgs::GetKinematicSolverInfo::Response &	res
	)

Definition at line 95 of file katana_openrave_kinematics.cpp.

bool getOpenRaveIK	(	kinematics_msgs::GetConstraintAwarePositionIK::Request &	req,
		kinematics_msgs::GetConstraintAwarePositionIK::Response &	resp
	)

Definition at line 56 of file katana_openrave_kinematics.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 104 of file katana_openrave_kinematics.cpp.

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Variable Documentation

ros::ServiceClient client_

This node provides the get_constraint_aware_ik (kinematics_msgs/GetConstraintAwarePositionIK) service. It just strips away all the constraint aware stuff and calls a the openrave IK service instead.

Normally, get_constraint_aware_ik checks the space of potential IK solutions for a solution that obeys all constraints (i.e., a solution that is not in self-collision or in collision with the environment). That only really makes sense for a redundant (>6 DoF) robot arm. Since the Katana only has 5 DoF, we only get at most one IK solution, so there is nothing to filter.

If we return a solution that violates constraints - for instance, that is in self-collision - then move_arm will abort with an error code. But if the solution is valid, everything should work.

Definition at line 49 of file katana_openrave_kinematics.cpp.

ros::ServiceServer ikService

Definition at line 53 of file katana_openrave_kinematics.cpp.

ros::ServiceServer infoService

Definition at line 54 of file katana_openrave_kinematics.cpp.

std::vector<arm_navigation_msgs::JointLimits> joint_limits_

Definition at line 51 of file katana_openrave_kinematics.cpp.

std::vector<std::string> joint_names_

Definition at line 50 of file katana_openrave_kinematics.cpp.