pick_place_action_capability.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2012, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/* Author: Ioan Sucan */

#ifndef MOVEIT_MOVE_GROUP_PICK_PLACE_ACTION_CAPABILITY_
#define MOVEIT_MOVE_GROUP_PICK_PLACE_ACTION_CAPABILITY_

#include <moveit/move_group/move_group_capability.h>
#include <actionlib/server/simple_action_server.h>
#include <moveit/pick_place/pick_place.h>
#include <moveit_msgs/PickupAction.h>
#include <moveit_msgs/PlaceAction.h>

namespace move_group
{

class MoveGroupPickPlaceAction : public MoveGroupCapability
{
public:

  MoveGroupPickPlaceAction();
  virtual void initialize();

private:

  void executePickupCallback(const moveit_msgs::PickupGoalConstPtr& goal);
  void executePlaceCallback(const moveit_msgs::PlaceGoalConstPtr& goal);

  void executePickupCallback_PlanOnly(const moveit_msgs::PickupGoalConstPtr& goal, moveit_msgs::PickupResult &action_res);
  void executePickupCallback_PlanAndExecute(const moveit_msgs::PickupGoalConstPtr& goal, moveit_msgs::PickupResult &action_res);

  void executePlaceCallback_PlanOnly(const moveit_msgs::PlaceGoalConstPtr& goal, moveit_msgs::PlaceResult &action_res);
  void executePlaceCallback_PlanAndExecute(const moveit_msgs::PlaceGoalConstPtr& goal, moveit_msgs::PlaceResult &action_res);

  bool planUsingPickPlace_Pickup(const moveit_msgs::PickupGoal& goal, moveit_msgs::PickupResult *action_res, plan_execution::ExecutableMotionPlan &plan);
  bool planUsingPickPlace_Place(const moveit_msgs::PlaceGoal& goal, moveit_msgs::PlaceResult *action_res, plan_execution::ExecutableMotionPlan &plan);

  void preemptPickupCallback();
  void preemptPlaceCallback();

  void startPickupLookCallback();
  void startPickupExecutionCallback();

  void startPlaceLookCallback();
  void startPlaceExecutionCallback();

  void setPickupState(MoveGroupState state);
  void setPlaceState(MoveGroupState state);

  void fillGrasps(moveit_msgs::PickupGoal& goal);

  pick_place::PickPlacePtr pick_place_;

  boost::scoped_ptr<actionlib::SimpleActionServer<moveit_msgs::PickupAction> > pickup_action_server_;
  moveit_msgs::PickupFeedback pickup_feedback_;

  boost::scoped_ptr<actionlib::SimpleActionServer<moveit_msgs::PlaceAction> > place_action_server_;
  moveit_msgs::PlaceFeedback place_feedback_;

  boost::scoped_ptr<moveit_msgs::AttachedCollisionObject> diff_attached_object_;

  MoveGroupState pickup_state_;
  MoveGroupState place_state_;

  ros::ServiceClient grasp_planning_service_;

};

}

#endif