move_base_to_manip.h
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00001 
00003 // Move the base until a desired end-effector pose can be reached.
00004 // Andy Zelenak, 2017
00006 
00007 #include <actionlib/client/simple_action_client.h>
00008 #include <move_base_msgs/MoveBaseAction.h>
00009 #include "move_base_to_manip/desired_robot_pose.h"
00010 #include "moveit/move_group_interface/move_group.h"
00011 #include "moveit_msgs/DisplayTrajectory.h"
00012 #include "std_srvs/Empty.h"
00013 
00014 namespace move_base_to_manip
00015 {
00016   const double cartesian_motion(const std::vector<geometry_msgs::Pose>& waypoints, moveit_msgs::RobotTrajectory& trajectory, moveit::planning_interface::MoveGroup& moveGroup, ros::NodeHandle& nh);
00017 
00018   void set_node_params(ros::NodeHandle &nh);
00019 
00020   void setup_move_group(ros::NodeHandle& nh, moveit::planning_interface::MoveGroup& moveGroup);
00021 
00022   void setup_base_marker(visualization_msgs::Marker& baseMarker, move_base_msgs::MoveBaseGoal& goal);
00023 
00024   ros::ServiceClient clear_octomap_client;
00025   ros::ServiceClient clear_costmaps_client;
00026 
00027   // An empty service call
00028   std_srvs::Empty empty_srv;
00029 }
00030 
00031 typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;
00032 
00033 #define SUCCESS false
00034 #define FAILURE true


move_base_to_manip
Author(s): Andy Zelenak, Andy Zelenak
autogenerated on Fri May 5 2017 02:30:02