oscillate_move.cpp

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/* \author: Ioan Sucan */

#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <move_arm/MoveArmAction.h>

#include <vector>
#include <string>

int main(int argc, char **argv)
{
    ros::init(argc, argv, "test_move_right_arm");
    ros::NodeHandle nh;

    actionlib::SimpleActionClient<move_arm::MoveArmAction> move_arm(nh, "move_right_arm");

    move_arm::MoveArmGoal goalA;
    move_arm::MoveArmGoal goalB;
    
    goalA.goal_constraints.set_pose_constraint_size(1);
    goalA.goal_constraints.pose_constraint[0].pose.header.stamp = ros::Time::now();
    goalA.goal_constraints.pose_constraint[0].pose.header.frame_id = "torso_lift_link";
    
    goalA.goal_constraints.pose_constraint[0].link_name = "r_wrist_roll_link";
    goalA.goal_constraints.pose_constraint[0].pose.pose.position.x = 0.75;
    goalA.goal_constraints.pose_constraint[0].pose.pose.position.y = -0.188;
    goalA.goal_constraints.pose_constraint[0].pose.pose.position.z = 0;
    
    goalA.goal_constraints.pose_constraint[0].pose.pose.orientation.x = 0;
    goalA.goal_constraints.pose_constraint[0].pose.pose.orientation.y = 0;
    goalA.goal_constraints.pose_constraint[0].pose.pose.orientation.z = 0;
    goalA.goal_constraints.pose_constraint[0].pose.pose.orientation.w = 1;

    goalA.goal_constraints.pose_constraint[0].position_tolerance_above.x = 0.003;
    goalA.goal_constraints.pose_constraint[0].position_tolerance_above.y = 0.003;
    goalA.goal_constraints.pose_constraint[0].position_tolerance_above.z = 0.003;
    goalA.goal_constraints.pose_constraint[0].position_tolerance_below.x = 0.003;
    goalA.goal_constraints.pose_constraint[0].position_tolerance_below.y = 0.003;
    goalA.goal_constraints.pose_constraint[0].position_tolerance_below.z = 0.003;
    
    goalA.goal_constraints.pose_constraint[0].orientation_tolerance_above.x = 0.005;
    goalA.goal_constraints.pose_constraint[0].orientation_tolerance_above.y = 0.005;
    goalA.goal_constraints.pose_constraint[0].orientation_tolerance_above.z = 0.005;
    goalA.goal_constraints.pose_constraint[0].orientation_tolerance_below.x = 0.005;
    goalA.goal_constraints.pose_constraint[0].orientation_tolerance_below.y = 0.005;
    goalA.goal_constraints.pose_constraint[0].orientation_tolerance_below.z = 0.005;  

    goalA.goal_constraints.pose_constraint[0].orientation_importance = 0.1;
    goalA.goal_constraints.pose_constraint[0].type =
        arm_navigation_msgs::PoseConstraint::POSITION_X + arm_navigation_msgs::PoseConstraint::POSITION_Y + arm_navigation_msgs::PoseConstraint::POSITION_Z + 
        arm_navigation_msgs::PoseConstraint::ORIENTATION_R + arm_navigation_msgs::PoseConstraint::ORIENTATION_P + arm_navigation_msgs::PoseConstraint::ORIENTATION_Y;
    
    
    std::vector<std::string> names(7);
    names[0] = "r_shoulder_pan_joint";
    names[1] = "r_shoulder_lift_joint";
    names[2] = "r_upper_arm_roll_joint";
    names[3] = "r_elbow_flex_joint";
    names[4] = "r_forearm_roll_joint";
    names[5] = "r_wrist_flex_joint";
    names[6] = "r_wrist_roll_joint";
    
    goalB.goal_constraints.joint_constraint.resize(names.size());
    for (unsigned int i = 0 ; i < goalB.goal_constraints.joint_constraint.size(); ++i)
    {
        goalB.goal_constraints.joint_constraint[i].header.stamp = ros::Time::now();
        goalB.goal_constraints.joint_constraint[i].header.frame_id = "base_link";
        goalB.goal_constraints.joint_constraint[i].joint_name = names[i];
        goalB.goal_constraints.joint_constraint[i].value.resize(1);
        goalB.goal_constraints.joint_constraint[i].tolerance_above.resize(1);
        goalB.goal_constraints.joint_constraint[i].tolerance_below.resize(1);
        goalB.goal_constraints.joint_constraint[i].value[0] = 0.0;
        goalB.goal_constraints.joint_constraint[i].tolerance_below[0] = 0.0;
        goalB.goal_constraints.joint_constraint[i].tolerance_above[0] = 0.0;
    }
    
    goalB.goal_constraints.joint_constraint[0].value[0] = -2.0;
    goalB.goal_constraints.joint_constraint[3].value[0] = -0.1;
    goalB.goal_constraints.joint_constraint[5].value[0] = 0.15;
    
    while (nh.ok())
    {
        ros::spinOnce();

        bool finished_within_time;
        move_arm.sendGoal(goalA);
        finished_within_time = move_arm.waitForGoalToFinish(ros::Duration(10.0));
        
        if (!finished_within_time)
        {
            move_arm.cancelGoal();
            std::cerr << "Timed out achieving goal A" << std::endl;
        }
        else
            std::cout << "Final state is " << move_arm.getTerminalState().toString() << std::endl;
        
        move_arm.sendGoal(goalB);
        finished_within_time = move_arm.waitForGoalToFinish(ros::Duration(10.0));
        
        if (!finished_within_time)
        {
            move_arm.cancelGoal();
            std::cerr << "Timed out achieving goal B" << std::endl;
        }
        else
            std::cout << "Final state is " << move_arm.getTerminalState().toString() << std::endl;
    }
    
    return 0;
}