pick_place_tutorial.cpp

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/* Author: Ioan Sucan */

#include <ros/ros.h>

// MoveIt!
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <moveit/move_group_interface/move_group.h>
#include <shape_tools/solid_primitive_dims.h>

static const std::string ROBOT_DESCRIPTION="robot_description";

void pick(moveit::planning_interface::MoveGroup &group)
{
  std::vector<manipulation_msgs::Grasp> grasps;

  geometry_msgs::PoseStamped p;
  p.header.frame_id = "base_footprint";
  p.pose.position.x = 0.32;
  p.pose.position.y = -0.7;
  p.pose.position.z = 0.5;
  p.pose.orientation.x = 0;
  p.pose.orientation.y = 0;
  p.pose.orientation.z = 0;
  p.pose.orientation.w = 1;
  manipulation_msgs::Grasp g;
  g.grasp_pose = p;

  g.approach.direction.vector.x = 1.0;
  g.approach.direction.header.frame_id = "r_wrist_roll_link";
  g.approach.min_distance = 0.2;
  g.approach.desired_distance = 0.4;

  g.retreat.direction.header.frame_id = "base_footprint";
  g.retreat.direction.vector.z = 1.0;
  g.retreat.min_distance = 0.1;
  g.retreat.desired_distance = 0.25;

  g.pre_grasp_posture.name.resize(1, "r_gripper_joint");
  g.pre_grasp_posture.position.resize(1);
  g.pre_grasp_posture.position[0] = 1;

  g.grasp_posture.name.resize(1, "r_gripper_joint");
  g.grasp_posture.position.resize(1);
  g.grasp_posture.position[0] = 0;

  grasps.push_back(g);
  group.setSupportSurfaceName("table");
  group.pick("part", grasps);
}

void place(moveit::planning_interface::MoveGroup &group)
{
  std::vector<manipulation_msgs::PlaceLocation> loc;

  geometry_msgs::PoseStamped p;
  p.header.frame_id = "base_footprint";
  p.pose.position.x = 0.7;
  p.pose.position.y = 0.0;
  p.pose.position.z = 0.5;
  p.pose.orientation.x = 0;
  p.pose.orientation.y = 0;
  p.pose.orientation.z = 0;
  p.pose.orientation.w = 1;
  manipulation_msgs::PlaceLocation g;
  g.place_pose = p;

  g.approach.direction.vector.z = -1.0;
  g.retreat.direction.vector.x = -1.0;
  g.retreat.direction.header.frame_id = "base_footprint";
  g.approach.direction.header.frame_id = "r_wrist_roll_link";
  g.approach.min_distance = 0.1;
  g.approach.desired_distance = 0.2;
  g.retreat.min_distance = 0.1;
  g.retreat.desired_distance = 0.25;

  g.post_place_posture.name.resize(1, "r_gripper_joint");
  g.post_place_posture.position.resize(1);
  g.post_place_posture.position[0] = 1;

  loc.push_back(g);
  group.setSupportSurfaceName("table");


  // add path constraints
  moveit_msgs::Constraints constr;
  constr.orientation_constraints.resize(1);
  moveit_msgs::OrientationConstraint &ocm = constr.orientation_constraints[0];
  ocm.link_name = "r_wrist_roll_link";
  ocm.header.frame_id = p.header.frame_id;
  ocm.orientation.x = 0.0;
  ocm.orientation.y = 0.0;
  ocm.orientation.z = 0.0;
  ocm.orientation.w = 1.0;
  ocm.absolute_x_axis_tolerance = 0.2;
  ocm.absolute_y_axis_tolerance = 0.2;
  ocm.absolute_z_axis_tolerance = M_PI;
  ocm.weight = 1.0;
  group.setPathConstraints(constr);
  group.setPlannerId("RRTConnectkConfigDefault");

  group.place("part", loc);
}

int main(int argc, char **argv)
{
  ros::init (argc, argv, "right_arm_pick_place");
  ros::AsyncSpinner spinner(1);
  spinner.start();

  ros::NodeHandle nh;
  ros::Publisher pub_co = nh.advertise<moveit_msgs::CollisionObject>("collision_object", 10);

  ros::WallDuration(1.0).sleep();

  moveit::planning_interface::MoveGroup group("right_arm");
  group.setPlanningTime(45.0);

  moveit_msgs::CollisionObject co;
  co.header.stamp = ros::Time::now();
  co.header.frame_id = "base_footprint";

  // remove pole
  co.id = "pole";
  co.operation = moveit_msgs::CollisionObject::REMOVE;
  pub_co.publish(co);

  // add pole
  co.operation = moveit_msgs::CollisionObject::ADD;
  co.primitives.resize(1);
  co.primitives[0].type = shape_msgs::SolidPrimitive::BOX;
  co.primitives[0].dimensions.resize(shape_tools::SolidPrimitiveDimCount<shape_msgs::SolidPrimitive::BOX>::value);
  co.primitives[0].dimensions[shape_msgs::SolidPrimitive::BOX_X] = 0.3;
  co.primitives[0].dimensions[shape_msgs::SolidPrimitive::BOX_Y] = 0.1;
  co.primitives[0].dimensions[shape_msgs::SolidPrimitive::BOX_Z] = 1.0;
  co.primitive_poses.resize(1);
  co.primitive_poses[0].position.x = 0.7;
  co.primitive_poses[0].position.y = -0.4;
  co.primitive_poses[0].position.z = 0.85;
  co.primitive_poses[0].orientation.w = 1.0;
  pub_co.publish(co);



  // remove table
  co.id = "table";
  co.operation = moveit_msgs::CollisionObject::REMOVE;
  pub_co.publish(co);

  // add table
  co.operation = moveit_msgs::CollisionObject::ADD;
  co.primitives[0].dimensions[shape_msgs::SolidPrimitive::BOX_X] = 0.5;
  co.primitives[0].dimensions[shape_msgs::SolidPrimitive::BOX_Y] = 1.5;
  co.primitives[0].dimensions[shape_msgs::SolidPrimitive::BOX_Z] = 0.35;
  co.primitive_poses[0].position.x = 0.7;
  co.primitive_poses[0].position.y = -0.2;
  co.primitive_poses[0].position.z = 0.175;
  pub_co.publish(co);



  co.id = "part";
  co.operation = moveit_msgs::CollisionObject::REMOVE;
  pub_co.publish(co);

  co.operation = moveit_msgs::CollisionObject::ADD;
  co.primitives[0].dimensions[shape_msgs::SolidPrimitive::BOX_X] = 0.15;
  co.primitives[0].dimensions[shape_msgs::SolidPrimitive::BOX_Y] = 0.1;
  co.primitives[0].dimensions[shape_msgs::SolidPrimitive::BOX_Z] = 0.3;

  co.primitive_poses[0].position.x = 0.6;
  co.primitive_poses[0].position.y = -0.7;
  co.primitive_poses[0].position.z = 0.5;
  pub_co.publish(co);

  // wait a bit for ros things to initialize
  ros::WallDuration(1.0).sleep();

  pick(group);

  ros::WallDuration(1.0).sleep();

  place(group);

  ros::waitForShutdown();
  return 0;
}