Provides ROS services to access functionality of package grasp_planning_graspit. More...

#include <GraspItServices.h>

Public Member Functions
	GraspItServices ()
void	start ()
	~GraspItServices ()
Private Member Functions
bool	acceptAddToDB (grasp_planning_graspit_msgs::AddToDatabase::Request &req, grasp_planning_graspit_msgs::AddToDatabase::Response &res)
bool	acceptEGPlanning (moveit_msgs::GraspPlanning::Request &req, moveit_msgs::GraspPlanning::Response &res)
bool	acceptLoadModel (grasp_planning_graspit_msgs::LoadDatabaseModel::Request &req, grasp_planning_graspit_msgs::LoadDatabaseModel::Response &res)
bool	acceptSaveWorld (grasp_planning_graspit_msgs::SaveWorld::Request &req, grasp_planning_graspit_msgs::SaveWorld::Response &res)
moveit_msgs::Grasp	getGraspMsg (const EigenGraspResult &r, const std::string &id, const std::vector< std::string > &robotJointNames, const std::string &objectFrame) const
	GraspItServices (const GraspItServices &o)
void	init ()
void	readParams ()
Private Attributes
ros::ServiceServer	addGraspitFileSrv
std::string	addToDBTopic
std::string	dbName
bool	defaultFinishWithAutograsp
int	defaultMaxPlanningSteps
int	defaultNumKeepResults
int	defaultNumRepeatPlanning
SHARED_PTR < GraspIt::EigenGraspPlanner >	egPlanner
std::string	egPlannerName
ros::ServiceServer	egPlanningSrv
std::string	egPlanningTopic
SHARED_PTR< GraspItSceneManager >	graspitMgr
float	graspMsgPositionFactor
ros::ServiceServer	loadGraspitModelSrv
std::string	loadModelTopic
SHARED_PTR < GraspItSimpleDBManager >	mgr
bool	negateJointDOFs
ros::NodeHandle	priv
ros::NodeHandle	pub
std::string	resultsOutputDirectory
bool	saveResultFilesGraspit
bool	saveResultFilesInventor
ros::ServiceServer	saveWorldSrv
std::string	saveWorldTopic

Detailed Description

Provides ROS services to access functionality of package grasp_planning_graspit.

This class maintains a GraspIt::GraspItDatabaseManager object. Services are provided to:

add objects to the database with *grasp_planning_graspit_msgs/AddToDatabase.srv*
to load them to the current GraspIt world with *grasp_planning_graspit_msgs/LoadDatabaseModel.srv*.
to save the currently loaded GraspIt world, with the service type *grasp_planning_graspit_msgs/SaveWorld.srv*.
accepts grasp planning requests with the service type *moveit_msgs/GraspPlanning.srv*.

The class GraspIt::EigenGraspPlanner is used for the planning. At this stage, the GraspIt::EigenGraspPlanner implementation supports only simulated annealing.

About the grasp planning request:

The service calls the GraspIt! planner assuming that all object and robot poses are specified in the **global frame** (the graspit world origin).
The frame id used in the geometry_msgs::PoseStamped objects have to be either "0" (pose not used) or "1" (pose object used in global frame). No tf transforms are supported yet.

About the results of a grasp planning request:

The resulting moveit_msgs::Grasp messages return the grasp pose **relative to the object**.
Grasp quality values returned are the energy of the simulated annealing process.
Pre-grasp joint states (see moveit_msgs::Grasp::pre_grasp_posture) are not supported yet. It is assumed that the hand is plain open in pre-grasp stage for now.
No joint velocities and efforts in the resulting sensor_msgs::JointState objects are provided.

All parameters have to be specified within the node's private namespace. Parmeters are documented in the .yaml config file: ``rosed grasp_planning_graspit_ros GraspItServices.yaml``

Author:: Jennifer Buehler

Date:: January 2016

Definition at line 80 of file GraspItServices.h.

Constructor & Destructor Documentation

GraspItServices::GraspItServices ( )

Definition at line 58 of file GraspItServices.cpp.

GraspItServices::~GraspItServices ( )

Definition at line 68 of file GraspItServices.cpp.

GraspIt::GraspItServices::GraspItServices ( const GraspItServices & o ) [inline, private]

Definition at line 92 of file GraspItServices.h.

Member Function Documentation

bool GraspItServices::acceptAddToDB	(	grasp_planning_graspit_msgs::AddToDatabase::Request &	req,
		grasp_planning_graspit_msgs::AddToDatabase::Response &	res
	)		`[private]`

callback method for service

Definition at line 128 of file GraspItServices.cpp.

bool GraspItServices::acceptEGPlanning	(	moveit_msgs::GraspPlanning::Request &	req,
		moveit_msgs::GraspPlanning::Response &	res
	)		`[private]`

callback method for service

Definition at line 319 of file GraspItServices.cpp.

bool GraspItServices::acceptLoadModel	(	grasp_planning_graspit_msgs::LoadDatabaseModel::Request &	req,
		grasp_planning_graspit_msgs::LoadDatabaseModel::Response &	res
	)		`[private]`

callback method for service

Definition at line 176 of file GraspItServices.cpp.

bool GraspItServices::acceptSaveWorld	(	grasp_planning_graspit_msgs::SaveWorld::Request &	req,
		grasp_planning_graspit_msgs::SaveWorld::Response &	res
	)		`[private]`

callback method for service

Definition at line 222 of file GraspItServices.cpp.

moveit_msgs::Grasp GraspItServices::getGraspMsg	(	const EigenGraspResult &	r,
		const std::string &	id,
		const std::vector< std::string > &	robotJointNames,
		const std::string &	objectFrame
	)		const `[private]`