action_grasp_handle.h
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00034 
00035 
00036 /* Author: Wim Meeusen */
00037 
00038 #ifndef ACTION_GRASP_HANLDE_H
00039 #define ACTION_GRASP_HANDLE_H
00040 
00041 
00042 #include <ros/ros.h>
00043 #include <door_msgs/Door.h>
00044 #include <std_msgs/Float64.h>
00045 #include <std_msgs/String.h>
00046 #include <std_srvs/Empty.h>
00047 #include <tf/tf.h>
00048 #include <tf/transform_listener.h>
00049 #include <kdl/frames.hpp>
00050 #include <door_msgs/DoorGoal.h>
00051 #include <door_msgs/DoorAction.h>
00052 #include <actionlib/server/simple_action_server.h>
00053 #include <actionlib/client/simple_action_client.h>
00054 #include <pr2_controllers_msgs/Pr2GripperCommandAction.h>
00055 #include <pr2_common_action_msgs/ArmMoveIKAction.h>
00056 
00057 
00058 
00059 namespace door_handle_detector{
00060 
00061 class GraspHandleAction
00062 {
00063 public:
00064   GraspHandleAction(tf::TransformListener& tf);
00065   ~GraspHandleAction();
00066 
00067 private:
00068   void execute(const door_msgs::DoorGoalConstPtr& goal);
00069 
00070   tf::TransformListener& tf_; 
00071 
00072   actionlib::SimpleActionServer<door_msgs::DoorAction> action_server_;
00073   door_msgs::DoorResult action_result_;
00074   actionlib::SimpleActionClient<pr2_controllers_msgs::Pr2GripperCommandAction> gripper_action_client_;  
00075   actionlib::SimpleActionClient<pr2_common_action_msgs::ArmMoveIKAction> ik_action_client_;
00076   pr2_common_action_msgs::ArmMoveIKGoal ik_goal_;
00077 };
00078 
00079 }
00080 #endif


pr2_doors_actions
Author(s): Wim Meeussen
autogenerated on Wed Dec 11 2013 14:17:44