generate_grasps_server.py

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#!/usr/bin/env python
#
# Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
#
# 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.


import rospy

import actionlib
import moveit_msgs.msg
import cob_grasp_generation.msg
from cob_grasp_generation import or_grasp_generation, grasp_query_utils

class GenerateGraspsServer(object):

  def __init__(self):
    self.orgg = or_grasp_generation.ORGraspGeneration()

    self._as_generate = actionlib.SimpleActionServer('generate_grasps', cob_grasp_generation.msg.GenerateGraspsAction, execute_cb=self.generate_cb, auto_start = False)
    self._as_generate.start()

    print("GenerateGraspsServer: action started...")

  def generate_cb(self, goal):
    success = False
    num_grasps = 0

    rospy.loginfo('Generating grasps for object %s using gripper_type %s' % (goal.object_name, goal.gripper_type))

    if grasp_query_utils.check_database(goal.object_name, goal.gripper_type):
        rospy.logwarn('Grasps for object %s exist in the database.', goal.object_name)
        success = False
    else:
        self.orgg.setup_environment(goal.object_name, goal.gripper_type, goal.viewer)
        rospy.loginfo('GraspTable for object %s does not exist. Now planning Grasps for the object',goal.object_name)
        num_grasps = self.orgg.generate_grasps(goal.object_name, goal.gripper_type, goal.replan)
        if (num_grasps > 0):
            success = True

    result   = cob_grasp_generation.msg.GenerateGraspsResult()
    result.success = success
    result.num_grasps = num_grasps

    if success:
      rospy.loginfo('Generate: Succeeded')
      self._as_generate.set_succeeded(result)
    else:
      rospy.logwarn('Generate: Failed')
      self._as_generate.set_aborted(result)


if __name__ == '__main__':
  rospy.init_node('generate_grasps_server')
  GenerateGraspsServer()
  rospy.spin()