Program Listing for File or_arm.hpp
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// Copyright 2021 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#pragma once
#include <chrono>
#include <moveit2z_client/cl_moveit2z.hpp>
#include <moveit2z_client/components/cp_trajectory_history.hpp>
#include <moveit2z_client/components/cp_grasping_objects.hpp>
#include "ros_timer_client/cl_ros_timer.hpp"
#include "smacc2/smacc.hpp"
namespace sm_panda_moveit2z_cb_inventory
{
using namespace std::chrono_literals;
class OrArm : public smacc2::Orthogonal<OrArm>
{
public:
void onInitialize() override
{
auto move_group_client = this->createClient<cl_moveit2z::ClMoveit2z>("panda_arm"); //ur_manipulator
move_group_client->createComponent<cl_moveit2z::CpTrajectoryHistory>();
auto graspingComponent = move_group_client->createComponent<cl_moveit2z::CpGraspingComponent>();
graspingComponent->gripperLink_="tool0";
graspingComponent->createGraspableBox("virtualBox", 0,0.5,0.5,0.1,0.1,0.1);
}
};
} // namespace sm_panda_moveit2z_cb_inventory