move_arm: oscillate_move.cpp Source File

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00036 
00037 /* \author: Ioan Sucan */
00038 
00039 #include <ros/ros.h>
00040 #include <actionlib/client/simple_action_client.h>
00041 #include <move_arm/MoveArmAction.h>
00042 
00043 #include <vector>
00044 #include <string>
00045 
00046 int main(int argc, char **argv)
00047 {
00048     ros::init(argc, argv, "test_move_right_arm");
00049     ros::NodeHandle nh;
00050 
00051     actionlib::SimpleActionClient<move_arm::MoveArmAction> move_arm(nh, "move_right_arm");
00052 
00053     move_arm::MoveArmGoal goalA;
00054     move_arm::MoveArmGoal goalB;
00055     
00056     goalA.goal_constraints.set_pose_constraint_size(1);
00057     goalA.goal_constraints.pose_constraint[0].pose.header.stamp = ros::Time::now();
00058     goalA.goal_constraints.pose_constraint[0].pose.header.frame_id = "torso_lift_link";
00059     
00060     goalA.goal_constraints.pose_constraint[0].link_name = "r_wrist_roll_link";
00061     goalA.goal_constraints.pose_constraint[0].pose.pose.position.x = 0.75;
00062     goalA.goal_constraints.pose_constraint[0].pose.pose.position.y = -0.188;
00063     goalA.goal_constraints.pose_constraint[0].pose.pose.position.z = 0;
00064     
00065     goalA.goal_constraints.pose_constraint[0].pose.pose.orientation.x = 0;
00066     goalA.goal_constraints.pose_constraint[0].pose.pose.orientation.y = 0;
00067     goalA.goal_constraints.pose_constraint[0].pose.pose.orientation.z = 0;
00068     goalA.goal_constraints.pose_constraint[0].pose.pose.orientation.w = 1;
00069 
00070     goalA.goal_constraints.pose_constraint[0].position_tolerance_above.x = 0.003;
00071     goalA.goal_constraints.pose_constraint[0].position_tolerance_above.y = 0.003;
00072     goalA.goal_constraints.pose_constraint[0].position_tolerance_above.z = 0.003;
00073     goalA.goal_constraints.pose_constraint[0].position_tolerance_below.x = 0.003;
00074     goalA.goal_constraints.pose_constraint[0].position_tolerance_below.y = 0.003;
00075     goalA.goal_constraints.pose_constraint[0].position_tolerance_below.z = 0.003;
00076     
00077     goalA.goal_constraints.pose_constraint[0].orientation_tolerance_above.x = 0.005;
00078     goalA.goal_constraints.pose_constraint[0].orientation_tolerance_above.y = 0.005;
00079     goalA.goal_constraints.pose_constraint[0].orientation_tolerance_above.z = 0.005;
00080     goalA.goal_constraints.pose_constraint[0].orientation_tolerance_below.x = 0.005;
00081     goalA.goal_constraints.pose_constraint[0].orientation_tolerance_below.y = 0.005;
00082     goalA.goal_constraints.pose_constraint[0].orientation_tolerance_below.z = 0.005;  
00083 
00084     goalA.goal_constraints.pose_constraint[0].orientation_importance = 0.1;
00085     goalA.goal_constraints.pose_constraint[0].type =
00086         motion_planning_msgs::PoseConstraint::POSITION_X + motion_planning_msgs::PoseConstraint::POSITION_Y + motion_planning_msgs::PoseConstraint::POSITION_Z + 
00087         motion_planning_msgs::PoseConstraint::ORIENTATION_R + motion_planning_msgs::PoseConstraint::ORIENTATION_P + motion_planning_msgs::PoseConstraint::ORIENTATION_Y;
00088     
00089     
00090     std::vector<std::string> names(7);
00091     names[0] = "r_shoulder_pan_joint";
00092     names[1] = "r_shoulder_lift_joint";
00093     names[2] = "r_upper_arm_roll_joint";
00094     names[3] = "r_elbow_flex_joint";
00095     names[4] = "r_forearm_roll_joint";
00096     names[5] = "r_wrist_flex_joint";
00097     names[6] = "r_wrist_roll_joint";
00098     
00099     goalB.goal_constraints.joint_constraint.resize(names.size());
00100     for (unsigned int i = 0 ; i < goalB.goal_constraints.joint_constraint.size(); ++i)
00101     {
00102         goalB.goal_constraints.joint_constraint[i].header.stamp = ros::Time::now();
00103         goalB.goal_constraints.joint_constraint[i].header.frame_id = "base_link";
00104         goalB.goal_constraints.joint_constraint[i].joint_name = names[i];
00105         goalB.goal_constraints.joint_constraint[i].value.resize(1);
00106         goalB.goal_constraints.joint_constraint[i].tolerance_above.resize(1);
00107         goalB.goal_constraints.joint_constraint[i].tolerance_below.resize(1);
00108         goalB.goal_constraints.joint_constraint[i].value[0] = 0.0;
00109         goalB.goal_constraints.joint_constraint[i].tolerance_below[0] = 0.0;
00110         goalB.goal_constraints.joint_constraint[i].tolerance_above[0] = 0.0;
00111     }
00112     
00113     goalB.goal_constraints.joint_constraint[0].value[0] = -2.0;
00114     goalB.goal_constraints.joint_constraint[3].value[0] = -0.1;
00115     goalB.goal_constraints.joint_constraint[5].value[0] = 0.15;
00116     
00117     while (nh.ok())
00118     {
00119         ros::spinOnce();
00120 
00121         bool finished_within_time;
00122         move_arm.sendGoal(goalA);
00123         finished_within_time = move_arm.waitForGoalToFinish(ros::Duration(10.0));
00124         
00125         if (!finished_within_time)
00126         {
00127             move_arm.cancelGoal();
00128             std::cerr << "Timed out achieving goal A" << std::endl;
00129         }
00130         else
00131             std::cout << "Final state is " << move_arm.getTerminalState().toString() << std::endl;
00132         
00133         move_arm.sendGoal(goalB);
00134         finished_within_time = move_arm.waitForGoalToFinish(ros::Duration(10.0));
00135         
00136         if (!finished_within_time)
00137         {
00138             move_arm.cancelGoal();
00139             std::cerr << "Timed out achieving goal B" << std::endl;
00140         }
00141         else
00142             std::cout << "Final state is " << move_arm.getTerminalState().toString() << std::endl;
00143     }
00144     
00145     return 0;
00146 }