pick_place_action_capability.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_MOVE_GROUP_PICK_PLACE_ACTION_CAPABILITY_
00038 #define MOVEIT_MOVE_GROUP_PICK_PLACE_ACTION_CAPABILITY_
00039 
00040 #include <moveit/move_group/move_group_capability.h>
00041 #include <actionlib/server/simple_action_server.h>
00042 #include <moveit/pick_place/pick_place.h>
00043 #include <moveit_msgs/PickupAction.h>
00044 #include <moveit_msgs/PlaceAction.h>
00045 
00046 namespace move_group
00047 {
00048 class MoveGroupPickPlaceAction : public MoveGroupCapability
00049 {
00050 public:
00051   MoveGroupPickPlaceAction();
00052   virtual void initialize();
00053 
00054 private:
00055   void executePickupCallback(const moveit_msgs::PickupGoalConstPtr& goal);
00056   void executePlaceCallback(const moveit_msgs::PlaceGoalConstPtr& goal);
00057 
00058   void executePickupCallback_PlanOnly(const moveit_msgs::PickupGoalConstPtr& goal,
00059                                       moveit_msgs::PickupResult& action_res);
00060   void executePickupCallback_PlanAndExecute(const moveit_msgs::PickupGoalConstPtr& goal,
00061                                             moveit_msgs::PickupResult& action_res);
00062 
00063   void executePlaceCallback_PlanOnly(const moveit_msgs::PlaceGoalConstPtr& goal, moveit_msgs::PlaceResult& action_res);
00064   void executePlaceCallback_PlanAndExecute(const moveit_msgs::PlaceGoalConstPtr& goal,
00065                                            moveit_msgs::PlaceResult& action_res);
00066 
00067   bool planUsingPickPlace_Pickup(const moveit_msgs::PickupGoal& goal, moveit_msgs::PickupResult* action_res,
00068                                  plan_execution::ExecutableMotionPlan& plan);
00069   bool planUsingPickPlace_Place(const moveit_msgs::PlaceGoal& goal, moveit_msgs::PlaceResult* action_res,
00070                                 plan_execution::ExecutableMotionPlan& plan);
00071 
00072   void preemptPickupCallback();
00073   void preemptPlaceCallback();
00074 
00075   void startPickupLookCallback();
00076   void startPickupExecutionCallback();
00077 
00078   void startPlaceLookCallback();
00079   void startPlaceExecutionCallback();
00080 
00081   void setPickupState(MoveGroupState state);
00082   void setPlaceState(MoveGroupState state);
00083 
00084   void fillGrasps(moveit_msgs::PickupGoal& goal);
00085 
00086   pick_place::PickPlacePtr pick_place_;
00087 
00088   boost::scoped_ptr<actionlib::SimpleActionServer<moveit_msgs::PickupAction> > pickup_action_server_;
00089   moveit_msgs::PickupFeedback pickup_feedback_;
00090 
00091   boost::scoped_ptr<actionlib::SimpleActionServer<moveit_msgs::PlaceAction> > place_action_server_;
00092   moveit_msgs::PlaceFeedback place_feedback_;
00093 
00094   boost::scoped_ptr<moveit_msgs::AttachedCollisionObject> diff_attached_object_;
00095 
00096   MoveGroupState pickup_state_;
00097   MoveGroupState place_state_;
00098 
00099   ros::ServiceClient grasp_planning_service_;
00100 };
00101 }
00102 
00103 #endif


manipulation
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Wed Jun 19 2019 19:24:40