Go to the documentation of this file.00001 #include <ros/ros.h>
00002 #include <kinematics_msgs/GetKinematicSolverInfo.h>
00003 #include <kinematics_msgs/GetConstraintAwarePositionIK.h>
00004 #include <arm_navigation_msgs/SetPlanningSceneDiff.h>
00005
00006 static const std::string SET_PLANNING_SCENE_DIFF_NAME = "/environment_server/set_planning_scene_diff";
00007
00008 int main(int argc, char **argv){
00009 ros::init (argc, argv, "get_fk");
00010 ros::NodeHandle rh;
00011
00012 ros::service::waitForService("pr2_right_arm_kinematics/get_ik_solver_info");
00013 ros::service::waitForService("pr2_right_arm_kinematics/get_constraint_aware_ik");
00014
00015 ros::ServiceClient query_client = rh.serviceClient<kinematics_msgs::GetKinematicSolverInfo>("pr2_right_arm_kinematics/get_ik_solver_info");
00016 ros::ServiceClient ik_client = rh.serviceClient<kinematics_msgs::GetConstraintAwarePositionIK>("pr2_right_arm_kinematics/get_constraint_aware_ik");
00017 ros::ServiceClient set_planning_scene_diff_client = rh.serviceClient<arm_navigation_msgs::SetPlanningSceneDiff>(SET_PLANNING_SCENE_DIFF_NAME);
00018
00019 arm_navigation_msgs::SetPlanningSceneDiff::Request planning_scene_req;
00020 arm_navigation_msgs::SetPlanningSceneDiff::Response planning_scene_res;
00021
00022 if(!set_planning_scene_diff_client.call(planning_scene_req, planning_scene_res)) {
00023 ROS_WARN("Can't get planning scene");
00024 return -1;
00025 }
00026
00027
00028 kinematics_msgs::GetKinematicSolverInfo::Request request;
00029 kinematics_msgs::GetKinematicSolverInfo::Response response;
00030
00031 if(query_client.call(request,response))
00032 {
00033 for(unsigned int i=0; i< response.kinematic_solver_info.joint_names.size(); i++)
00034 {
00035 ROS_DEBUG("Joint: %d %s",i,response.kinematic_solver_info.joint_names[i].c_str());
00036 }
00037 }
00038 else
00039 {
00040 ROS_ERROR("Could not call query service");
00041 ros::shutdown();
00042 exit(-1);
00043 }
00044
00045
00046 kinematics_msgs::GetConstraintAwarePositionIK::Request gpik_req;
00047 kinematics_msgs::GetConstraintAwarePositionIK::Response gpik_res;
00048
00049 gpik_req.timeout = ros::Duration(5.0);
00050 gpik_req.ik_request.ik_link_name = "r_wrist_roll_link";
00051
00052 gpik_req.ik_request.pose_stamped.header.frame_id = "torso_lift_link";
00053 gpik_req.ik_request.pose_stamped.pose.position.x = 0.75;
00054 gpik_req.ik_request.pose_stamped.pose.position.y = -0.188;
00055 gpik_req.ik_request.pose_stamped.pose.position.z = 0.0;
00056
00057 gpik_req.ik_request.pose_stamped.pose.orientation.x = 0.0;
00058 gpik_req.ik_request.pose_stamped.pose.orientation.y = 0.0;
00059 gpik_req.ik_request.pose_stamped.pose.orientation.z = 0.0;
00060 gpik_req.ik_request.pose_stamped.pose.orientation.w = 1.0;
00061
00062 gpik_req.ik_request.ik_seed_state.joint_state.position.resize(response.kinematic_solver_info.joint_names.size());
00063 gpik_req.ik_request.ik_seed_state.joint_state.name = response.kinematic_solver_info.joint_names;
00064
00065 for(unsigned int i=0; i< response.kinematic_solver_info.joint_names.size(); i++)
00066 {
00067 gpik_req.ik_request.ik_seed_state.joint_state.position[i] = (response.kinematic_solver_info.limits[i].min_position + response.kinematic_solver_info.limits[i].max_position)/2.0;
00068 }
00069 if(ik_client.call(gpik_req, gpik_res))
00070 {
00071 if(gpik_res.error_code.val == gpik_res.error_code.SUCCESS)
00072 {
00073 for(unsigned int i=0; i < gpik_res.solution.joint_state.name.size(); i ++)
00074 {
00075 ROS_INFO("Joint: %s %f",gpik_res.solution.joint_state.name[i].c_str(),gpik_res.solution.joint_state.position[i]);
00076 }
00077 }
00078 else
00079 {
00080 ROS_ERROR("Inverse kinematics failed");
00081 }
00082 }
00083 else
00084 {
00085 ROS_ERROR("Inverse kinematics service call failed");
00086 }
00087 ros::shutdown();
00088 }