Classes | |
| class | CArmManipulationEditor |
| Class inherited from planning_scene_utils::PlanningSceneEditor. More... | |
| class | ManualArmManipActionServer |
| Class is used to wrap actionlib server and related variables. More... | |
| struct | t_det_obj |
Variables | |
| static const std::string | ACT_ARM_MANIP = PACKAGE_NAME_PREFIX + std::string("/manual_arm_manip_action") |
| static const std::string | ACT_BB_SELECT = PACKAGE_NAME_PREFIX + std::string("/manual_bb_estimation_action") |
| static const std::string | ACT_GRASP = PACKAGE_NAME_PREFIX + std::string("/manual_grasping_action") |
| static const std::string | EXECUTE_LEFT_TRAJECTORY = "/arm_controller/follow_joint_trajectory" |
| static const std::string | EXECUTE_RIGHT_TRAJECTORY = "none" |
| static const std::string | GAZEBO_ROBOT_MODEL = "robot" |
| static const double | INFLATE_BB = 1.0 |
| static const std::string | LEFT_ARM_GROUP = "arm" |
| static const std::string | LEFT_ARM_REDUNDANCY = "none" |
| static const std::string | LEFT_IK_LINK = "arm_7_link" |
| static const std::string | LEFT_IK_NAME = "/cob3_arm_kinematics/get_constraint_aware_ik" |
| static const std::string | LEFT_INTERPOLATE_SERVICE_NAME = "none" |
| static const std::string | LIST_CONTROLLERS_SERVICE = "/pr2_controller_manager/list_controllers" |
| static const std::string | LOAD_CONTROLLERS_SERVICE = "/pr2_controller_manager/load_controller" |
| static const std::string | NON_COLL_LEFT_IK_NAME = "/cob3_arm_kinematics/get_ik" |
| static const std::string | NON_COLL_RIGHT_IK_NAME = "none" |
| static const std::string | PACKAGE_NAME_PREFIX = "/but_arm_manip" |
| static const std::string | PLANNER_1_SERVICE_NAME = "/ompl_planning/plan_kinematic_path" |
| static const std::string | PLANNER_2_SERVICE_NAME = "none" |
| static const ros::Duration | PLANNING_DURATION = ros::Duration(5.0) |
| static const std::string | PROXIMITY_SPACE_PLANNER_NAME = "none" |
| static const std::string | PROXIMITY_SPACE_SERVICE_NAME = "none" |
| static const std::string | PROXIMITY_SPACE_VALIDITY_NAME = "none" |
| static const std::string | RIGHT_ARM_GROUP = "none" |
| static const std::string | RIGHT_ARM_REDUNDANCY = "none" |
| static const std::string | RIGHT_IK_LINK = "none" |
| static const std::string | RIGHT_IK_NAME = "none" |
| static const std::string | RIGHT_INTERPOLATE_SERVICE_NAME = "none" |
| static const std::string | ROBOT_DESCRIPTION_PARAM = "robot_description" |
| static const std::string | SET_PLANNING_SCENE_DIFF_NAME = "environment_server/set_planning_scene_diff" |
| static const double | SOLVE_TIMEOUT = (5*60.0) |
| static const std::string | SRV_ALLOW = PACKAGE_NAME_PREFIX + std::string("/grasping_allow") |
| static const std::string | SRV_COLLOBJ = PACKAGE_NAME_PREFIX + std::string("/arm_nav_coll_obj") |
| static const std::string | SRV_COLLOBJ_REM = PACKAGE_NAME_PREFIX + std::string("/arm_rem_coll_obj") |
| static const std::string | SRV_EXECUTE = PACKAGE_NAME_PREFIX + std::string("/arm_nav_execute") |
| static const std::string | SRV_FAILED = PACKAGE_NAME_PREFIX + std::string("/arm_nav_failed") |
| static const std::string | SRV_MOVE_PALM_LINK = PACKAGE_NAME_PREFIX + std::string("/arm_nav_move_palm_link") |
| static const std::string | SRV_MOVE_PALM_LINK_REL = PACKAGE_NAME_PREFIX + std::string("/arm_nav_move_palm_link_rel") |
| static const std::string | SRV_NEW = PACKAGE_NAME_PREFIX + std::string("/arm_nav_new") |
| static const std::string | SRV_PLAN = PACKAGE_NAME_PREFIX + std::string("/arm_nav_plan") |
| static const std::string | SRV_PLAY = PACKAGE_NAME_PREFIX + std::string("/arm_nav_play") |
| static const std::string | SRV_REFRESH = PACKAGE_NAME_PREFIX + std::string("/arm_nav_refresh") |
| static const std::string | SRV_REPEAT = PACKAGE_NAME_PREFIX + std::string("/arm_nav_repeat") |
| static const std::string | SRV_RESET = PACKAGE_NAME_PREFIX + std::string("/arm_nav_reset") |
| static const std::string | SRV_SET_ATTACHED = PACKAGE_NAME_PREFIX + std::string("/arm_nav_set_attached") |
| static const std::string | SRV_START = PACKAGE_NAME_PREFIX + std::string("/arm_nav_start") |
| static const std::string | SRV_STEP = PACKAGE_NAME_PREFIX + std::string("/arm_nav_step") |
| static const std::string | SRV_STOP = PACKAGE_NAME_PREFIX + std::string("/arm_nav_stop") |
| static const std::string | SRV_SUCCESS = PACKAGE_NAME_PREFIX + std::string("/arm_nav_success") |
| static const std::string | SRV_SWITCH = PACKAGE_NAME_PREFIX + std::string("/arm_nav_switch_aco") |
| static const double | START_TIMEOUT = 60.0 |
| static const std::string | SWITCH_CONTROLLERS_SERVICE = "/pr2_controller_manager/switch_controller" |
| static const std::string | TOP_GRIPPER_RPY = PACKAGE_NAME_PREFIX + std::string("/gripper_rpy") |
| static const std::string | TOP_STATE = PACKAGE_NAME_PREFIX + std::string("/state") |
| static const std::string | TRAJECTORY_FILTER_1_SERVICE_NAME = "/trajectory_filter_server/filter_trajectory_with_constraints" |
| static const std::string | TRAJECTORY_FILTER_2_SERVICE_NAME = "none" |
| static const std::string | UNLOAD_CONTROLLERS_SERVICE = "/pr2_controller_manager/unload_controller" |
| static const std::string | VIS_TOPIC_NAME = "planning_scene_visualizer_markers" |
| static const std::string | WORLD_FRAME = "/map" |
This is node which acts as bridge between functionality of warehouse viewer and RVIZ plugin. It provides actionlib interface (server) for communication with i.e. decision making and some services for communication with RVIZ arm manipulation plugin.
const std::string srs_assisted_arm_navigation::ACT_ARM_MANIP = PACKAGE_NAME_PREFIX + std::string("/manual_arm_manip_action") [static] |
actions
Definition at line 45 of file topics_list.h.
const std::string srs_assisted_arm_navigation::ACT_BB_SELECT = PACKAGE_NAME_PREFIX + std::string("/manual_bb_estimation_action") [static] |
Definition at line 47 of file topics_list.h.
const std::string srs_assisted_arm_navigation::ACT_GRASP = PACKAGE_NAME_PREFIX + std::string("/manual_grasping_action") [static] |
Definition at line 46 of file topics_list.h.
const std::string srs_assisted_arm_navigation::EXECUTE_LEFT_TRAJECTORY = "/arm_controller/follow_joint_trajectory" [static] |
Definition at line 118 of file arm_manip_node.h.
const std::string srs_assisted_arm_navigation::EXECUTE_RIGHT_TRAJECTORY = "none" [static] |
Definition at line 117 of file arm_manip_node.h.
const std::string srs_assisted_arm_navigation::GAZEBO_ROBOT_MODEL = "robot" [static] |
Definition at line 142 of file arm_manip_node.h.
const double srs_assisted_arm_navigation::INFLATE_BB = 1.0 [static] |
This parameter can be used to make bounding box of detected object (which can be inserted to planning scene) slightly bigger. It can be useful if planning scene suffers from noise in collision map.
Definition at line 155 of file arm_manip_node.h.
const std::string srs_assisted_arm_navigation::LEFT_ARM_GROUP = "arm" [static] |
Definition at line 124 of file arm_manip_node.h.
const std::string srs_assisted_arm_navigation::LEFT_ARM_REDUNDANCY = "none" [static] |
Definition at line 126 of file arm_manip_node.h.
const std::string srs_assisted_arm_navigation::LEFT_IK_LINK = "arm_7_link" [static] |
Definition at line 127 of file arm_manip_node.h.
const std::string srs_assisted_arm_navigation::LEFT_IK_NAME = "/cob3_arm_kinematics/get_constraint_aware_ik" [static] |
Definition at line 119 of file arm_manip_node.h.
const std::string srs_assisted_arm_navigation::LEFT_INTERPOLATE_SERVICE_NAME = "none" [static] |
Definition at line 131 of file arm_manip_node.h.
const std::string srs_assisted_arm_navigation::LIST_CONTROLLERS_SERVICE = "/pr2_controller_manager/list_controllers" [static] |
Definition at line 138 of file arm_manip_node.h.
const std::string srs_assisted_arm_navigation::LOAD_CONTROLLERS_SERVICE = "/pr2_controller_manager/load_controller" [static] |
Definition at line 139 of file arm_manip_node.h.
const std::string srs_assisted_arm_navigation::NON_COLL_LEFT_IK_NAME = "/cob3_arm_kinematics/get_ik" [static] |
Definition at line 121 of file arm_manip_node.h.
const std::string srs_assisted_arm_navigation::NON_COLL_RIGHT_IK_NAME = "none" [static] |
Definition at line 122 of file arm_manip_node.h.
const std::string srs_assisted_arm_navigation::PACKAGE_NAME_PREFIX = "/but_arm_manip" [static] |
Definition at line 36 of file services_list.h.
const std::string srs_assisted_arm_navigation::PLANNER_1_SERVICE_NAME = "/ompl_planning/plan_kinematic_path" [static] |
Definition at line 129 of file arm_manip_node.h.
const std::string srs_assisted_arm_navigation::PLANNER_2_SERVICE_NAME = "none" [static] |
Definition at line 130 of file arm_manip_node.h.
const ros::Duration srs_assisted_arm_navigation::PLANNING_DURATION = ros::Duration(5.0) [static] |
Definition at line 144 of file arm_manip_node.h.
const std::string srs_assisted_arm_navigation::PROXIMITY_SPACE_PLANNER_NAME = "none" [static] |
Definition at line 137 of file arm_manip_node.h.
const std::string srs_assisted_arm_navigation::PROXIMITY_SPACE_SERVICE_NAME = "none" [static] |
Definition at line 135 of file arm_manip_node.h.
const std::string srs_assisted_arm_navigation::PROXIMITY_SPACE_VALIDITY_NAME = "none" [static] |
Definition at line 136 of file arm_manip_node.h.
const std::string srs_assisted_arm_navigation::RIGHT_ARM_GROUP = "none" [static] |
Definition at line 123 of file arm_manip_node.h.
const std::string srs_assisted_arm_navigation::RIGHT_ARM_REDUNDANCY = "none" [static] |
Definition at line 125 of file arm_manip_node.h.
const std::string srs_assisted_arm_navigation::RIGHT_IK_LINK = "none" [static] |
Definition at line 128 of file arm_manip_node.h.
const std::string srs_assisted_arm_navigation::RIGHT_IK_NAME = "none" [static] |
Definition at line 120 of file arm_manip_node.h.
const std::string srs_assisted_arm_navigation::RIGHT_INTERPOLATE_SERVICE_NAME = "none" [static] |
Definition at line 132 of file arm_manip_node.h.
const std::string srs_assisted_arm_navigation::ROBOT_DESCRIPTION_PARAM = "robot_description" [static] |
Definition at line 143 of file arm_manip_node.h.
const std::string srs_assisted_arm_navigation::SET_PLANNING_SCENE_DIFF_NAME = "environment_server/set_planning_scene_diff" [static] |
Definition at line 145 of file arm_manip_node.h.
const double srs_assisted_arm_navigation::SOLVE_TIMEOUT = (5*60.0) [static] |
This parameter defines maximum amount of time in which the user has to solve arm navigation task
Definition at line 152 of file arm_manip_node.h.
const std::string srs_assisted_arm_navigation::SRV_ALLOW = PACKAGE_NAME_PREFIX + std::string("/grasping_allow") [static] |
Definition at line 60 of file services_list.h.
const std::string srs_assisted_arm_navigation::SRV_COLLOBJ = PACKAGE_NAME_PREFIX + std::string("/arm_nav_coll_obj") [static] |
Definition at line 50 of file services_list.h.
const std::string srs_assisted_arm_navigation::SRV_COLLOBJ_REM = PACKAGE_NAME_PREFIX + std::string("/arm_rem_coll_obj") [static] |
Definition at line 51 of file services_list.h.
const std::string srs_assisted_arm_navigation::SRV_EXECUTE = PACKAGE_NAME_PREFIX + std::string("/arm_nav_execute") [static] |
Definition at line 45 of file services_list.h.
const std::string srs_assisted_arm_navigation::SRV_FAILED = PACKAGE_NAME_PREFIX + std::string("/arm_nav_failed") [static] |
Definition at line 48 of file services_list.h.
const std::string srs_assisted_arm_navigation::SRV_MOVE_PALM_LINK = PACKAGE_NAME_PREFIX + std::string("/arm_nav_move_palm_link") [static] |
Definition at line 53 of file services_list.h.
const std::string srs_assisted_arm_navigation::SRV_MOVE_PALM_LINK_REL = PACKAGE_NAME_PREFIX + std::string("/arm_nav_move_palm_link_rel") [static] |
Definition at line 54 of file services_list.h.
const std::string srs_assisted_arm_navigation::SRV_NEW = PACKAGE_NAME_PREFIX + std::string("/arm_nav_new") [static] |
Definition at line 42 of file services_list.h.
const std::string srs_assisted_arm_navigation::SRV_PLAN = PACKAGE_NAME_PREFIX + std::string("/arm_nav_plan") [static] |
Definition at line 43 of file services_list.h.
const std::string srs_assisted_arm_navigation::SRV_PLAY = PACKAGE_NAME_PREFIX + std::string("/arm_nav_play") [static] |
Definition at line 44 of file services_list.h.
const std::string srs_assisted_arm_navigation::SRV_REFRESH = PACKAGE_NAME_PREFIX + std::string("/arm_nav_refresh") [static] |
Definition at line 49 of file services_list.h.
const std::string srs_assisted_arm_navigation::SRV_REPEAT = PACKAGE_NAME_PREFIX + std::string("/arm_nav_repeat") [static] |
Definition at line 56 of file services_list.h.
const std::string srs_assisted_arm_navigation::SRV_RESET = PACKAGE_NAME_PREFIX + std::string("/arm_nav_reset") [static] |
Definition at line 46 of file services_list.h.
const std::string srs_assisted_arm_navigation::SRV_SET_ATTACHED = PACKAGE_NAME_PREFIX + std::string("/arm_nav_set_attached") [static] |
Definition at line 52 of file services_list.h.
const std::string srs_assisted_arm_navigation::SRV_START = PACKAGE_NAME_PREFIX + std::string("/arm_nav_start") [static] |
services
Definition at line 41 of file services_list.h.
const std::string srs_assisted_arm_navigation::SRV_STEP = PACKAGE_NAME_PREFIX + std::string("/arm_nav_step") [static] |
Definition at line 57 of file services_list.h.
const std::string srs_assisted_arm_navigation::SRV_STOP = PACKAGE_NAME_PREFIX + std::string("/arm_nav_stop") [static] |
Definition at line 58 of file services_list.h.
const std::string srs_assisted_arm_navigation::SRV_SUCCESS = PACKAGE_NAME_PREFIX + std::string("/arm_nav_success") [static] |
Definition at line 47 of file services_list.h.
const std::string srs_assisted_arm_navigation::SRV_SWITCH = PACKAGE_NAME_PREFIX + std::string("/arm_nav_switch_aco") [static] |
Definition at line 55 of file services_list.h.
const double srs_assisted_arm_navigation::START_TIMEOUT = 60.0 [static] |
This parameter defines time in which a user must click on NEW button (in RVIZ plugin) after start of action
Definition at line 151 of file arm_manip_node.h.
const std::string srs_assisted_arm_navigation::SWITCH_CONTROLLERS_SERVICE = "/pr2_controller_manager/switch_controller" [static] |
Definition at line 141 of file arm_manip_node.h.
const std::string srs_assisted_arm_navigation::TOP_GRIPPER_RPY = PACKAGE_NAME_PREFIX + std::string("/gripper_rpy") [static] |
topics
Definition at line 39 of file topics_list.h.
const std::string srs_assisted_arm_navigation::TOP_STATE = PACKAGE_NAME_PREFIX + std::string("/state") [static] |
Definition at line 40 of file topics_list.h.
const std::string srs_assisted_arm_navigation::TRAJECTORY_FILTER_1_SERVICE_NAME = "/trajectory_filter_server/filter_trajectory_with_constraints" [static] |
Definition at line 133 of file arm_manip_node.h.
const std::string srs_assisted_arm_navigation::TRAJECTORY_FILTER_2_SERVICE_NAME = "none" [static] |
Definition at line 134 of file arm_manip_node.h.
const std::string srs_assisted_arm_navigation::UNLOAD_CONTROLLERS_SERVICE = "/pr2_controller_manager/unload_controller" [static] |
Definition at line 140 of file arm_manip_node.h.
const std::string srs_assisted_arm_navigation::VIS_TOPIC_NAME = "planning_scene_visualizer_markers" [static] |
Definition of services
arm_nav_start: when called a messagebox will pop-up in RVIZ plugin arm_nav_new: this will create planning scene arm_nav_plan: plan and filter trajectory arm_nav_play: play previously planned trajectory arm_nav_execute: execute planned trajectory (it doesn't wait for finish of execution) arm_nav_reset: delete planning scene, start from beginning arm_nav_success: user marked action as successful arm_nav_failed: user marked action as failed arm_nav_refresh: send current planning scene Definition of default values for parameters needed by PlanningSceneEditor. Values are customized for use with COB.
Definition at line 116 of file arm_manip_node.h.
const std::string srs_assisted_arm_navigation::WORLD_FRAME = "/map" [static] |
Definition at line 147 of file arm_manip_node.h.