Main class, combining a ROS node with a GraspIt! interface. More...

#include <ros_graspit_interface.h>

Public Member Functions
virtual int	init (int argc, char **argv)
	Creates the node handles, advertises services, connects to the database.
virtual int	mainLoop ()
	Simply calls ros::spinOnce() to process the ROS event loop.
	RosGraspitInterface ()
	Inits ROS, but (for now) without passing any arguments.
	~RosGraspitInterface ()
	Deletes the node handle and the db manager.
Private Member Functions
bool	clearBodiesCB (graspit_ros_planning_msgs::ClearBodies::Request &request, graspit_ros_planning_msgs::ClearBodies::Response &response)
	Callback for the clear bodies service.
void	computeEnergy (Body *object, graspit_ros_planning_msgs::TestGrasp::Response &response)
	Performs the grasp test using the grasp energy function.
bool	generateGraspCB (graspit_ros_planning_msgs::GenerateGrasp::Request &request, graspit_ros_planning_msgs::GenerateGrasp::Response &response)
	Callback for the grasp generation service, for PR2 gripper.
GraspitDBModel *	getModel (int model_id)
	Will load a model, or retrieve it from the map of previously loaded models.
bool	graspPlanningCB (manipulation_msgs::GraspPlanning::Request &request, manipulation_msgs::GraspPlanning::Response &response)
	Callback for the general grasp planning service.
void	gripperCollisionCheck (const Body *object, graspit_ros_planning_msgs::TestGrasp::Response &response)
	Checks collisions between the gripper and the environment.
bool	loadGripper ()
	Loads the gripper info from its file, if not already loaded.
bool	loadModelCB (graspit_ros_planning_msgs::LoadDatabaseModel::Request &request, graspit_ros_planning_msgs::LoadDatabaseModel::Response &response)
	Callback for the load model service.
bool	loadObstacleCB (graspit_ros_planning_msgs::LoadObstacle::Request &request, graspit_ros_planning_msgs::LoadObstacle::Response &response)
	Callback for the load obstacle service.
bool	simulateScanCB (graspit_ros_planning_msgs::SimulateScan::Request &request, graspit_ros_planning_msgs::SimulateScan::Response &response)
	Callback for the clear bodies service.
bool	testGraspCB (graspit_ros_planning_msgs::TestGrasp::Request &request, graspit_ros_planning_msgs::TestGrasp::Response &response)
	Callback for the detailed, graspit-specific test grasp service.
void	testGraspCompliant (const manipulation_msgs::Grasp &grasp, GraspableBody *object, graspit_ros_planning_msgs::TestGrasp::Response &response)
	Tests a grasp using the compliant method.
void	testGraspDirect (const manipulation_msgs::Grasp &grasp, GraspableBody *object, graspit_ros_planning_msgs::TestGrasp::Response &response)
	Tests a grasp using the direct method.
void	testGraspReactive (const manipulation_msgs::Grasp &grasp, GraspableBody *object, graspit_ros_planning_msgs::TestGrasp::Response &response)
	Tests a grasp using the direct method.
void	testGraspRobustReactive (const manipulation_msgs::Grasp &grasp, GraspableBody *object, graspit_ros_planning_msgs::TestGrasp::Response &response)
	Tests a grasp using the direct method.
bool	verifyGraspCB (graspit_ros_planning_msgs::VerifyGrasp::Request &request, graspit_ros_planning_msgs::VerifyGrasp::Response &response)
	Callback for the grasp verifying service, for PR2 gripper.
Private Attributes
ros::ServiceServer	clear_bodies_srv_
	Server for the clear bodies service.
db_planner::DatabaseManager *	db_mgr_
	A GraspIt database manager used for talking to the database.
double	default_energy_threshold_
	Used for converting energy values fo probabilities; soon to be replaced.
int	default_grasp_test_type_
	Used for general GrapsPlanning calls; should be a value from graspit_ros_planning_msgs::TestGrasp.
ros::ServiceServer	generate_grasp_srv_
	Server for the generate grasp service.
ros::ServiceServer	grasp_planning_srv_
	Server for the grasp planning service.
Pr2Gripper2010 *	gripper_
	A GraspIt instance of the PR2 gripper.
ros::ServiceServer	load_model_srv_
	Server for the load model service.
ros::ServiceServer	load_obstacle_srv_
	Server for the load obstacle service.
std::map< int, GraspitDBModel * >	models_
	Keeps track of all models already retrieved from the database, mapped by their scaled model id.
ros::NodeHandle *	priv_nh_
	Node handle in the private namespace.
ros::NodeHandle *	root_nh_
	Node handle in the root namespace.
ros::Publisher	scan_publisher_
	Publisher for simulated scans.
ros::ServiceServer	simulate_scan_srv_
	Server for the scan simulation service.
ros::ServiceServer	test_grasp_srv_
	Server for the test grasp service.
ros::ServiceServer	verify_grasp_srv_
	Server for the grasp collision checking service.

Detailed Description

Main class, combining a ROS node with a GraspIt! interface.

Note that this class inherits from GraspIt's Plugin class and implements the necessary functions to serve as a GraspIt plugin. See include/plugin.h in the GraspIt code for the base class.

Provides a number of ROS services that directly operate on the GraspIt world, such as loading objects or obstacles, simulating 3D scans of objects, etc.

In particular, note that this class uses the mainLoop() function to perform the ROS even management calls.

Definition at line 77 of file ros_graspit_interface.h.

Constructor & Destructor Documentation

graspit_ros_planning::RosGraspitInterface::RosGraspitInterface ( )

Inits ROS, but (for now) without passing any arguments.

Definition at line 166 of file ros_graspit_interface.cpp.

graspit_ros_planning::RosGraspitInterface::~RosGraspitInterface ( )

Deletes the node handle and the db manager.

Definition at line 172 of file ros_graspit_interface.cpp.

Member Function Documentation

bool graspit_ros_planning::RosGraspitInterface::clearBodiesCB	(	graspit_ros_planning_msgs::ClearBodies::Request &	request,
		graspit_ros_planning_msgs::ClearBodies::Response &	response
	)		`[private]`

Callback for the clear bodies service.

Definition at line 349 of file ros_graspit_interface.cpp.

void graspit_ros_planning::RosGraspitInterface::computeEnergy	(	Body *	object,
		graspit_ros_planning_msgs::TestGrasp::Response &	response
	)		`[private]`

Performs the grasp test using the grasp energy function.

Definition at line 517 of file ros_graspit_interface.cpp.

bool graspit_ros_planning::RosGraspitInterface::generateGraspCB	(	graspit_ros_planning_msgs::GenerateGrasp::Request &	request,
		graspit_ros_planning_msgs::GenerateGrasp::Response &	response
	)		`[private]`

Callback for the grasp generation service, for PR2 gripper.

Definition at line 691 of file ros_graspit_interface.cpp.

GraspitDBModel * graspit_ros_planning::RosGraspitInterface::getModel ( int model_id ) [private]

Will load a model, or retrieve it from the map of previously loaded models.

-------------------------- populating the graspit world ------------------------------

If the model has laready been loaded, it will retrieve it from the list of models. If not, it will load it, add it to the list, and return it. Returns NULL only if the model could not be loaded from the database.

Definition at line 256 of file ros_graspit_interface.cpp.

bool graspit_ros_planning::RosGraspitInterface::graspPlanningCB	(	manipulation_msgs::GraspPlanning::Request &	request,
		manipulation_msgs::GraspPlanning::Response &	response
	)		`[private]`

Callback for the general grasp planning service.

Definition at line 1189 of file ros_graspit_interface.cpp.

void graspit_ros_planning::RosGraspitInterface::gripperCollisionCheck	(	const Body *	object,
		graspit_ros_planning_msgs::TestGrasp::Response &	response
	)		`[private]`

Checks collisions between the gripper and the environment.

Definition at line 487 of file ros_graspit_interface.cpp.

int graspit_ros_planning::RosGraspitInterface::init	(	int	argc,
		char **	argv
	)		`[virtual]`

Creates the node handles, advertises services, connects to the database.

Definition at line 183 of file ros_graspit_interface.cpp.

bool graspit_ros_planning::RosGraspitInterface::loadGripper ( ) [private]

Loads the gripper info from its file, if not already loaded.

Definition at line 274 of file ros_graspit_interface.cpp.

bool graspit_ros_planning::RosGraspitInterface::loadModelCB	(	graspit_ros_planning_msgs::LoadDatabaseModel::Request &	request,
		graspit_ros_planning_msgs::LoadDatabaseModel::Response &	response
	)		`[private]`

Callback for the load model service.

Definition at line 293 of file ros_graspit_interface.cpp.

bool graspit_ros_planning::RosGraspitInterface::loadObstacleCB	(	graspit_ros_planning_msgs::LoadObstacle::Request &	request,
		graspit_ros_planning_msgs::LoadObstacle::Response &	response
	)		`[private]`

Callback for the load obstacle service.

Definition at line 386 of file ros_graspit_interface.cpp.

int graspit_ros_planning::RosGraspitInterface::mainLoop ( ) [virtual]

Simply calls ros::spinOnce() to process the ROS event loop.

Definition at line 246 of file ros_graspit_interface.cpp.

bool graspit_ros_planning::RosGraspitInterface::simulateScanCB	(	graspit_ros_planning_msgs::SimulateScan::Request &	request,
		graspit_ros_planning_msgs::SimulateScan::Response &	response
	)		`[private]`

Callback for the clear bodies service.

Definition at line 405 of file ros_graspit_interface.cpp.

bool graspit_ros_planning::RosGraspitInterface::testGraspCB	(	graspit_ros_planning_msgs::TestGrasp::Request &	request,
		graspit_ros_planning_msgs::TestGrasp::Response &	response
	)		`[private]`

Callback for the detailed, graspit-specific test grasp service.

Definition at line 1141 of file ros_graspit_interface.cpp.

void graspit_ros_planning::RosGraspitInterface::testGraspCompliant	(	const manipulation_msgs::Grasp &	grasp,
		GraspableBody *	object,
		graspit_ros_planning_msgs::TestGrasp::Response &	response
	)		`[private]`

Tests a grasp using the compliant method.

Definition at line 999 of file ros_graspit_interface.cpp.

void graspit_ros_planning::RosGraspitInterface::testGraspDirect	(	const manipulation_msgs::Grasp &	grasp,
		GraspableBody *	object,
		graspit_ros_planning_msgs::TestGrasp::Response &	response
	)		`[private]`

Tests a grasp using the direct method.

Definition at line 979 of file ros_graspit_interface.cpp.

void graspit_ros_planning::RosGraspitInterface::testGraspReactive	(	const manipulation_msgs::Grasp &	grasp,
		GraspableBody *	object,
		graspit_ros_planning_msgs::TestGrasp::Response &	response
	)		`[private]`

Tests a grasp using the direct method.

Definition at line 1020 of file ros_graspit_interface.cpp.

void graspit_ros_planning::RosGraspitInterface::testGraspRobustReactive	(	const manipulation_msgs::Grasp &	grasp,
		GraspableBody *	object,
		graspit_ros_planning_msgs::TestGrasp::Response &	response
	)		`[private]`

Tests a grasp using the direct method.

Definition at line 1047 of file ros_graspit_interface.cpp.

bool graspit_ros_planning::RosGraspitInterface::verifyGraspCB	(	graspit_ros_planning_msgs::VerifyGrasp::Request &	request,
		graspit_ros_planning_msgs::VerifyGrasp::Response &	response
	)		`[private]`