#include <plane_extractor.h>#include <move_omni_base.h>#include <book_stacking_msgs/DragRequest.h>#include <book_stacking_msgs/NavWaypoints.h>#include <book_stacking_msgs/ObjectInfos.h>#include <book_stacking_msgs/ObjectInfo.h>#include <ros/ros.h>#include <actionlib/client/simple_action_client.h>#include <geometry_msgs/PoseStamped.h>#include <geometry_msgs/Vector3Stamped.h>#include <geometry_msgs/Quaternion.h>#include <sensor_msgs/PointCloud2.h>#include <sensor_msgs/JointState.h>#include <pr2_controllers_msgs/SingleJointPositionAction.h>#include <pr2_controllers_msgs/PointHeadAction.h>#include <pr2_controllers_msgs/Pr2GripperCommandAction.h>#include <std_msgs/String.h>#include <kinematics_msgs/GetKinematicSolverInfo.h>#include <kinematics_msgs/GetPositionFK.h>#include <kinematics_msgs/GetConstraintAwarePositionIK.h>#include <arm_navigation_msgs/SetPlanningSceneDiff.h>#include <arm_navigation_msgs/CollisionOperation.h>#include <arm_navigation_msgs/MoveArmAction.h>#include <arm_navigation_msgs/utils.h>#include <arm_navigation_msgs/MoveArmGoal.h>#include <pr2_controllers_msgs/JointTrajectoryGoal.h>#include <pr2_controllers_msgs/JointTrajectoryAction.h>#include <pr2_controllers_msgs/JointTrajectoryControllerState.h>#include <pr2_msgs/PressureState.h>#include <pr2_msgs/LaserScannerSignal.h>#include <laser_assembler/AssembleScans.h>#include <move_base_msgs/MoveBaseAction.h>#include <tabletop_collision_map_processing/TabletopCollisionMapProcessing.h>#include <object_manipulation_msgs/PickupAction.h>#include <object_manipulation_msgs/PlaceAction.h>#include <pcl_ros/filters/passthrough.h>#include <pcl/segmentation/sac_segmentation.h>#include <pcl/sample_consensus/method_types.h>#include <pcl/sample_consensus/model_types.h>#include <pcl/surface/convex_hull.h>#include <pcl/filters/extract_indices.h>#include <pcl/filters/voxel_grid.h>#include <pcl_ros/transforms.h>#include <pcl/filters/statistical_outlier_removal.h>#include <tf/transform_listener.h>#include <string.h>#include <math.h>#include <vector>#include <iostream>#include <fstream>#include <stdio.h>#include <visualization_msgs/Marker.h>#include <visualization_msgs/MarkerArray.h>Go to the source code of this file.
Classes | |
| struct | arm_config_7DOF |
| class | book_stacking |
| struct | DragActionTemplate |
Defines | |
| #define | DEBUG_DRAW_TABLE_MARKERS |
| #define | DEBUG_DRAW_TABLETOP_OBJECTS |
| #define | END_EFFECTOR_OFFSET 0.175 |
Typedefs | |
| typedef actionlib::SimpleActionClient < arm_navigation_msgs::MoveArmAction > | ArmActionClient |
| typedef actionlib::SimpleActionClient < pr2_controllers_msgs::Pr2GripperCommandAction > | GripperClient |
| typedef pcl::KdTree< Point >::Ptr | KdTreePtr |
| typedef actionlib::SimpleActionClient < move_base_msgs::MoveBaseAction > | MoveBaseClient |
| typedef actionlib::SimpleActionClient < object_manipulation_msgs::PickupAction > | PickupClient |
| typedef pcl::PointXYZ | Point |
| typedef actionlib::SimpleActionClient < pr2_controllers_msgs::PointHeadAction > | PointHeadClient |
| typedef actionlib::SimpleActionClient < pr2_controllers_msgs::SingleJointPositionAction > | TorsoClient |
| typedef actionlib::SimpleActionClient < pr2_controllers_msgs::JointTrajectoryAction > | TrajClient |
| typedef pcl::PointCloud < pcl::PointXYZ > | XYZPointCloud |
Functions | |
| int | main (int argc, char **argv) |
Variables | |
| static const std::string | COLLISION_PROCESSING_SERVICE_NAME = "/tabletop_collision_map_processing/tabletop_collision_map_processing" |
| static const std::string | PICKUP_ACTION_NAME = "/object_manipulator/object_manipulator_pickup" |
| static const std::string | PLACE_ACTION_NAME = "/object_manipulator/object_manipulator_place" |
| static const std::string | R_WRIST_ROLL_LINK_STR = "r_wrist_roll_link" |
| static const std::string | RIGHT_ARM_FK_NAME = "pr2_right_arm_kinematics/get_fk" |
| static const std::string | RIGHT_ARM_IK_NAME = "pr2_right_arm_kinematics/get_constraint_aware_ik" |
| static const std::string | SET_PLANNING_SCENE_DIFF_NAME = "/environment_server/set_planning_scene_diff" |
| static const std::string | TORSO_LIFT_LINK_STR = "torso_lift_link" |
| #define DEBUG_DRAW_TABLE_MARKERS |
Definition at line 1 of file book_stacking.cpp.
| #define DEBUG_DRAW_TABLETOP_OBJECTS |
Definition at line 2 of file book_stacking.cpp.
| #define END_EFFECTOR_OFFSET 0.175 |
Definition at line 5 of file book_stacking.cpp.
Definition at line 99 of file book_stacking.cpp.
Definition at line 102 of file book_stacking.cpp.
Definition at line 97 of file book_stacking.cpp.
| typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient |
Definition at line 100 of file book_stacking.cpp.
| typedef actionlib::SimpleActionClient<object_manipulation_msgs::PickupAction> PickupClient |
Definition at line 101 of file book_stacking.cpp.
| typedef pcl::PointXYZ Point |
Definition at line 96 of file book_stacking.cpp.
Definition at line 94 of file book_stacking.cpp.
Definition at line 98 of file book_stacking.cpp.
Definition at line 93 of file book_stacking.cpp.
| typedef pcl::PointCloud<pcl::PointXYZ> XYZPointCloud |
Definition at line 95 of file book_stacking.cpp.
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
Definition at line 3093 of file book_stacking.cpp.
const std::string COLLISION_PROCESSING_SERVICE_NAME = "/tabletop_collision_map_processing/tabletop_collision_map_processing" [static] |
Definition at line 85 of file book_stacking.cpp.
const std::string PICKUP_ACTION_NAME = "/object_manipulator/object_manipulator_pickup" [static] |
Definition at line 86 of file book_stacking.cpp.
const std::string PLACE_ACTION_NAME = "/object_manipulator/object_manipulator_place" [static] |
Definition at line 87 of file book_stacking.cpp.
const std::string R_WRIST_ROLL_LINK_STR = "r_wrist_roll_link" [static] |
Definition at line 89 of file book_stacking.cpp.
const std::string RIGHT_ARM_FK_NAME = "pr2_right_arm_kinematics/get_fk" [static] |
Definition at line 91 of file book_stacking.cpp.
const std::string RIGHT_ARM_IK_NAME = "pr2_right_arm_kinematics/get_constraint_aware_ik" [static] |
Definition at line 90 of file book_stacking.cpp.
const std::string SET_PLANNING_SCENE_DIFF_NAME = "/environment_server/set_planning_scene_diff" [static] |
Definition at line 92 of file book_stacking.cpp.
const std::string TORSO_LIFT_LINK_STR = "torso_lift_link" [static] |
Definition at line 88 of file book_stacking.cpp.