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test_app.cpp

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/*
 * test_app.cpp
 *
 *  Created on: Feb 03, 2011
 *      Author: Christian Bersch
 */


#include <ros/ros.h>

#include <simple_robot_control/robot_control.h>




int main(int argc, char** argv){



        ros::init(argc, argv, "robot_control_test_app");
        ros::NodeHandle nh;

        //Create robot controller interface
        simple_robot_control::Robot robot;

        //look straight
        robot.head.lookat("torso_lift_link", tf::Vector3(0.1, 0.0, 0.0));

        //do stuff with arms
        robot.left_arm.tuck();
        robot.right_arm.stretch();

        double tuck_pos_right[] = { -0.4,0.0,0.0,-2.25,0.0,0.0,0.0, -0.01,1.35,-1.92,-1.68, 1.35,-0.18,0.31};
        std::vector<double> tuck_pos_vec(tuck_pos_right, tuck_pos_right+14);
        robot.right_arm.goToJointPos(tuck_pos_vec);

        robot.right_arm.stretch();


        robot.right_arm.moveGripperToPosition(tf::Vector3(0.6,-0.1, 0.0), "torso_lift_link", simple_robot_control::Arm::FROM_ABOVE);
        robot.right_arm.moveGripperToPosition(tf::Vector3(0.8,-0.1, 0.1), "torso_lift_link", simple_robot_control::Arm::FRONTAL);

        tf::StampedTransform tf_l (tf::Transform(tf::Quaternion(0,0,0,1), tf::Vector3(0.8,0.1,0.0)), ros::Time::now(), "torso_lift_link","doesnt_matter");
        robot.left_arm.moveGrippertoPose(tf_l);

        //look at left gripper
        robot.head.lookat("l_gripper_tool_frame");

        //drive 0.5m forward
        robot.base.driveForward(0.5);

        //raise torso to 10cm above lowest position
        robot.torso.move(0.1);

        return 0;

}

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simple_robot_control
Author(s): Christian Bersch, Sebastian Haug (Maintained by Benjamin Pitzer)
autogenerated on Mon Mar 4 11:12:10 2013