sequential_tasks.h
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00001 #ifndef HIGH_LEVEL_ACTIONS_H_
00002 #define HIGH_LEVEL_ACTIONS_H_
00003 
00004 #include <ros/ros.h>
00005 #include <actionlib/client/simple_action_client.h>
00006 #include <boost/thread/mutex.hpp>
00007 #include <carl_dynamixel/LookAtFrame.h>
00008 #include <carl_demos/ObtainObjectAction.h>
00009 #include <rail_manipulation_msgs/ArmAction.h>
00010 #include <carl_navigation/MoveCarlAction.h>
00011 #include <wpi_jaco_msgs/HomeArmAction.h>
00012 
00013 #define NUM_JACO_JOINTS 6
00014 #define MAX_HOME_ATTEMPTS 3
00015 
00016 class SequentialTasks
00017 {
00018 
00019 public:
00020 
00024   SequentialTasks();
00025 
00031   void packSchoolBag();
00032 
00033   void makeFruitBasket();
00034 
00035   void checkSurface(int location, std::string surfaceLink);
00036 
00044   void obtainObject(int location, std::string object, std::string surfaceLink);
00045 
00046 private:
00047   ros::NodeHandle n;
00048 
00049   ros::ServiceClient lookAtFrameClient;
00050 
00051   actionlib::SimpleActionClient<rail_manipulation_msgs::ArmAction> armClient;
00052   actionlib::SimpleActionClient<wpi_jaco_msgs::HomeArmAction> armHomeClient;
00053   actionlib::SimpleActionClient<carl_demos::ObtainObjectAction> obtainObjectClient;
00054   actionlib::SimpleActionClient<carl_navigation::MoveCarlAction> moveCarlClient;
00055 };
00056 
00057 #endif


carl_demos
Author(s): David Kent , Russell Toris
autogenerated on Thu Jun 6 2019 21:59:32