#include <mtconnect_msgs/CloseChuckAction.h>
#include <mtconnect_msgs/OpenChuckAction.h>
#include <mtconnect_msgs/CloseDoorAction.h>
#include <mtconnect_msgs/OpenDoorAction.h>
#include <mtconnect_msgs/MaterialLoadAction.h>
#include <mtconnect_msgs/MaterialUnloadAction.h>
#include <object_manipulation_msgs/PickupAction.h>
#include <object_manipulation_msgs/PlaceAction.h>
#include <arm_navigation_msgs/MoveArmAction.h>
#include <mtconnect_cnc_robot_example/utilities/utilities.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib/server/simple_action_server.h>
#include <ros/ros.h>
#include <boost/assign/list_inserter.hpp>
#include <boost/assign/list_of.hpp>
#include <mtconnect_msgs/RobotSpindle.h>
#include <mtconnect_msgs/RobotStates.h>
#include <boost/thread.hpp>

Include dependency graph for material_handling_server_test.cpp:

Classes
class	SimpleMaterialHandlingServer
Typedefs
typedef actionlib::SimpleActionClient < mtconnect_msgs::CloseChuckAction >	CncCloseChuckClient
typedef boost::shared_ptr < CncCloseChuckClient >	CncCloseChuckClientPtr
typedef actionlib::SimpleActionClient < mtconnect_msgs::CloseDoorAction >	CncCloseDoorClient
typedef boost::shared_ptr < CncCloseDoorClient >	CncCloseDoorClientPtr
typedef actionlib::SimpleActionClient < mtconnect_msgs::OpenChuckAction >	CncOpenChuckClient
typedef boost::shared_ptr < CncOpenChuckClient >	CncOpenChuckClientPtr
typedef actionlib::SimpleActionClient < mtconnect_msgs::OpenDoorAction >	CncOpenDoorClient
typedef boost::shared_ptr < CncOpenDoorClient >	CncOpenDoorClientPtr
typedef std::vector< int >	MaterialHandlingSequence
typedef actionlib::SimpleActionServer < mtconnect_msgs::MaterialLoadAction >	MaterialLoadServer
typedef boost::shared_ptr < MaterialLoadServer >	MaterialLoadServerPtr
typedef actionlib::SimpleActionServer < mtconnect_msgs::MaterialUnloadAction >	MaterialUnloadServer
typedef boost::shared_ptr < MaterialUnloadServer >	MaterialUnloadServerPtr
typedef actionlib::SimpleActionClient < arm_navigation_msgs::MoveArmAction >	MoveArmClient
typedef boost::shared_ptr < MoveArmClient >	MoveArmClientPtr
typedef actionlib::SimpleActionClient < object_manipulation_msgs::PickupAction >	MovePickupClient
typedef boost::shared_ptr < MovePickupClient >	MovePickupClientPtr
typedef actionlib::SimpleActionClient < object_manipulation_msgs::PlaceAction >	MovePlaceClient
typedef boost::shared_ptr < MovePlaceClient >	MovePlaceClientPtr
Functions
int	main (int argc, char **argv)
Variables
static const std::string	CNC_ACTION_ACTIVE_FLAG = "ACTIVE"
static const std::string	DEFAULT_CNC_CLOSE_CHUCK_ACTION = "cnc_close_chuck_action"
static const std::string	DEFAULT_CNC_CLOSE_DOOR_ACTION = "cnc_close_door_action"
static const std::string	DEFAULT_CNC_OPEN_CHUCK_ACTION = "cnc_open_chuck_action"
static const std::string	DEFAULT_CNC_OPEN_DOOR_ACTION = "cnc_open_door_action"
static const double	DEFAULT_JOINT_ERROR_TOLERANCE = 0.01f
static const std::string	DEFAULT_MATERIAL_LOAD_ACTION = "material_load_action"
static const std::string	DEFAULT_MATERIAL_UNLOAD_ACTION = "material_unload_action"
static const std::string	DEFAULT_MOVE_ARM_ACTION = "move_arm_action"
static const std::string	DEFAULT_PATH_PLANNER = "/ompl_planning/plan_kinematic_path"
static const int	DEFAULT_PATH_PLANNING_ATTEMPTS = 2
static const std::string	DEFAULT_PICKUP_ACTION = "pickup_action_service"
static const std::string	DEFAULT_PLACE_ACTION = "place_action_service"
static const std::string	DEFAULT_ROBOT_SPINDLE_TOPIC = "robot_spindle"
static const std::string	DEFAULT_ROBOT_STATES_TOPIC = "robot_states"
static const double	DURATION_LOOP_PAUSE = 2.0f
static const double	DURATION_PATH_COMPLETION = 2.0f
static const double	DURATION_PLANNING_TIME = 5.0f
static const double	DURATION_TIMER_INTERVAL = 4.0f
static const double	DURATION_WAIT_RESULT = 40.0f
static const double	DURATION_WAIT_SERVER = 2.0f
static const int	MAX_WAIT_ATTEMPTS = 40
static const std::string	PARAM_ARM_GROUP = "arm_group"
static const std::string	PARAM_JOINT_HOME_POSITION = "/joint_home_position"
static const std::string	PARAM_JOINT_WAIT_POSITION = "/joint_wait_position"
static const std::string	PARAM_LOAD_PICKUP_GOAL = "load_pickup_goal"
static const std::string	PARAM_LOAD_PLACE_GOAL = "load_place_goal"
static const std::string	PARAM_UNLOAD_PICKUP_GOAL = "unload_pickup_goal"
static const std::string	PARAM_UNLOAD_PLACE_GOAL = "unload_place_goal"