test_find_container_action.cpp
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00001 #include <ros/ros.h>
00002 #include <actionlib/client/simple_action_client.h>
00003 #include <actionlib/client/terminal_state.h>
00004 #include <object_manipulation_msgs/FindContainerAction.h>
00005 
00006 #include <pcl/io/pcd_io.h>
00007 #include <pcl/point_types.h>
00008 #include <pcl_ros/transforms.h>
00009 
00010 #include <tf/transform_listener.h>
00011 
00012 int main (int argc, char **argv)
00013 {
00014   ros::init(argc, argv, "test_find_container_action");
00015 
00016   if(argc < 2)
00017   {
00018     ROS_ERROR("Usage: test_find_container_action <point_cloud_topic>");
00019     exit(-1);
00020   }
00021   tf::TransformListener tfl;
00022   ros::Duration(1.0).sleep();
00023 
00024   // create the action client
00025   // true causes the client to spin its own thread
00026   actionlib::SimpleActionClient<object_manipulation_msgs::FindContainerAction> ac("find_container_action", true);
00027 
00028   ROS_INFO("Waiting for action server to start.");
00029   // wait for the action server to start
00030   ac.waitForServer(); //will wait for infinite time
00031 
00032   sensor_msgs::PointCloud2::ConstPtr cloud = ros::topic::waitForMessage<sensor_msgs::PointCloud2>(argv[1], ros::Duration(5.0));
00033   if(!cloud)
00034   {
00035     ROS_INFO("No message received on topic %s", argv[1]);
00036     exit(-2);
00037   }
00038 
00039 
00040 
00041   ROS_INFO("Action server started, sending goal.");
00042   // send a goal to the action
00043 
00044   object_manipulation_msgs::FindContainerGoal goal;
00045 
00046 
00047   tfl.waitForTransform("/base_link", cloud->header.frame_id, cloud->header.stamp, ros::Duration(2.0));
00048   pcl_ros::transformPointCloud("/base_link", *cloud, goal.cloud, tfl);
00049 
00050   //# x: 0 - 0.5 y: -0.3 to -0.7  z: 0.22 - 0.82
00051   goal.box_pose.header.frame_id = "/base_link";
00052   goal.box_pose.pose.position.x = 0.25;
00053   goal.box_pose.pose.position.y = -0.5;
00054   goal.box_pose.pose.position.z = 0.53;
00055   goal.box_dims.x = 0.5;
00056   goal.box_dims.y = 0.4;
00057   goal.box_dims.z = 0.6;
00058 
00059 
00060 
00061   ac.sendGoal(goal);
00062 
00063   //wait for the action to return
00064   bool finished_before_timeout = ac.waitForResult(ros::Duration(30.0));
00065 
00066   if (finished_before_timeout)
00067   {
00068     actionlib::SimpleClientGoalState state = ac.getState();
00069     ROS_INFO("Action finished: %s",state.toString().c_str());
00070   }
00071   else
00072     ROS_INFO("Action did not finish before the time out.");
00073 
00074   //exit
00075   return 0;
00076 }


segmented_clutter_grasp_planner
Author(s): Kaijen Hsiao
autogenerated on Fri Jan 3 2014 12:08:13