calvin_pick_n_place.cpp File Reference

#include <ros/ros.h>
#include <tf/tf.h>
#include <moveit/move_group_interface/move_group.h>
#include <geometry_msgs/PoseStamped.h>
#include <moveit_msgs/AttachedCollisionObject.h>
#include <moveit_msgs/CollisionObject.h>
#include <moveit_msgs/Grasp.h>
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>
#include <shape_tools/solid_primitive_dims.h>

Include dependency graph for calvin_pick_n_place.cpp:

Go to the source code of this file.

Functions
void	add_attached_collision_object ()
void	add_collision_object ()
std::vector< moveit_msgs::Grasp >	generate_grasps (double x, double y, double z)
int	main (int argc, char **argv)
bool	place (moveit::planning_interface::MoveGroup &group)
void	publish_grasps_as_markerarray (std::vector< moveit_msgs::Grasp > grasps)
void	remove_attached_collision_object ()
void	remove_collision_object ()
moveit_msgs::Grasp	tf_transform_to_grasp (tf::Transform t)
Variables
moveit_msgs::AttachedCollisionObject	aco
moveit_msgs::CollisionObject	co
ros::Publisher	grasps_marker
ros::Publisher	pub_aco
ros::Publisher	pub_co

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Function Documentation

void add_attached_collision_object

(

)

Definition at line 33 of file calvin_pick_n_place.cpp.

void add_collision_object

(

)

Definition at line 23 of file calvin_pick_n_place.cpp.

std::vector<moveit_msgs::Grasp> generate_grasps	(	double	x,
		double	y,
		double	z
	)

x, y, z: center of grasp point (the point that should be between the finger tips of the gripper)

Definition at line 130 of file calvin_pick_n_place.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 244 of file calvin_pick_n_place.cpp.

bool place

(

moveit::planning_interface::MoveGroup &

group

)

Definition at line 198 of file calvin_pick_n_place.cpp.

void publish_grasps_as_markerarray

(

std::vector< moveit_msgs::Grasp >

grasps

)

Definition at line 102 of file calvin_pick_n_place.cpp.

void remove_attached_collision_object

(

)

Definition at line 38 of file calvin_pick_n_place.cpp.

void remove_collision_object

(

)

Definition at line 28 of file calvin_pick_n_place.cpp.

moveit_msgs::Grasp tf_transform_to_grasp

(

tf::Transform

t

)

Definition at line 44 of file calvin_pick_n_place.cpp.

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Variable Documentation

moveit_msgs::AttachedCollisionObject aco

Definition at line 21 of file calvin_pick_n_place.cpp.

moveit_msgs::CollisionObject co

Definition at line 20 of file calvin_pick_n_place.cpp.

ros::Publisher grasps_marker

Definition at line 18 of file calvin_pick_n_place.cpp.

ros::Publisher pub_aco

Definition at line 17 of file calvin_pick_n_place.cpp.

ros::Publisher pub_co

Definition at line 16 of file calvin_pick_n_place.cpp.