interactive_marker_node.h
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00001 /*
00002  * Copyright (c) 2009, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #ifndef INTERACTIVE_MANIPULATION_MARKER_NODE
00031 #define INTERACTIVE_MANIPULATION_MARKER_NODE
00032 
00033 #include "pr2_object_manipulation_msgs/IMGUIAction.h"
00034 #include "pr2_object_manipulation_msgs/PickupIMObjectAction.h"
00035 
00036 #include "graspable_object_handler.h"
00037 
00038 #include <ros/ros.h>
00039 #include <actionlib/client/simple_action_client.h>
00040 #include <actionlib/server/simple_action_server.h>
00041 #include <dynamic_reconfigure/server.h>
00042 
00043 #include <interactive_markers/interactive_marker_server.h>
00044 #include <interactive_markers/menu_handler.h>
00045 
00046 #include <manipulation_msgs/GraspableObject.h>
00047 
00048 #include <manipulation_msgs/GraspableObjectList.h>
00049 
00050 #include <pr2_interactive_manipulation/PickupConfig.h>
00051 
00052 #include <tabletop_collision_map_processing/collision_map_interface.h>
00053 
00054 namespace pr2_interactive_manipulation
00055 {
00056 
00057 class InteractiveMarkerNode
00058 {
00059 
00060 public:
00061   InteractiveMarkerNode();
00062   ~InteractiveMarkerNode();
00063 
00064   std::vector<manipulation_msgs::GraspableObject> getMovableObstacles();
00065 
00066 private:
00067 
00068   void processGraspableObjects(const manipulation_msgs::GraspableObjectListConstPtr &objects);
00069 
00070   void processConfig(PickupConfig &config, uint32_t level);
00071 
00072   ros::NodeHandle root_nh_;
00073   ros::NodeHandle priv_nh_;
00074 
00075   ros::Subscriber graspable_objects_sub_;
00076 
00077   actionlib::SimpleActionClient<pr2_object_manipulation_msgs::IMGUIAction> im_gui_action_client_;
00078 
00079   interactive_markers::InteractiveMarkerServer marker_server_;
00080 
00081   std::vector< boost::shared_ptr<GraspableObjectHandler> > object_handlers_;
00082 
00083   pr2_object_manipulation_msgs::IMGUIOptions options_;
00084 
00085   dynamic_reconfigure::Server<PickupConfig> dyn_conf_srv_;
00086 
00087   tabletop_collision_map_processing::CollisionMapInterface collision_map_interface_;
00088 
00089   actionlib::SimpleActionServer<pr2_object_manipulation_msgs::PickupIMObjectAction> pickup_as_;
00090 
00091   void pickupIMObject(const pr2_object_manipulation_msgs::PickupIMObjectGoalConstPtr &goal);
00092 };
00093 
00094 }
00095 
00096 #endif


pr2_interactive_manipulation
Author(s): Matei Ciocarlie, Kaijen Hsiao, Adam Leeper
autogenerated on Mon Oct 6 2014 12:55:34