planning: test_app.cpp Source File

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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <moveit/trajectory_execution_manager/trajectory_execution_manager.h>
00038 #include <moveit/robot_model_loader/robot_model_loader.h>
00039 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
00040 
00041 int main(int argc, char** argv)
00042 {
00043   ros::init(argc, argv, "test_trajectory_execution_manager");
00044 
00045   ros::AsyncSpinner spinner(1);
00046   spinner.start();
00047 
00048   robot_model_loader::RobotModelLoaderPtr rml(new robot_model_loader::RobotModelLoader);
00049   planning_scene_monitor::PlanningSceneMonitor psm(rml);
00050   trajectory_execution_manager::TrajectoryExecutionManager tem(rml->getModel(), psm.getStateMonitor(), true);
00051 
00052   std::cout << "1:\n";
00053   if (!tem.ensureActiveControllersForJoints(std::vector<std::string>(1, "basej")))
00054     ROS_ERROR("Fail!");
00055 
00056   std::cout << "2:\n";
00057   if (!tem.ensureActiveController("arms"))
00058     ROS_ERROR("Fail!");
00059 
00060   std::cout << "3:\n";
00061   if (!tem.ensureActiveControllersForJoints(std::vector<std::string>(1, "rj2")))
00062     ROS_ERROR("Fail!");
00063 
00064   std::cout << "4:\n";
00065   if (!tem.ensureActiveControllersForJoints(std::vector<std::string>(1, "lj1")))
00066     ROS_ERROR("Fail!");
00067 
00068   std::cout << "5:\n";
00069   if (!tem.ensureActiveController("left_arm_head"))
00070     ROS_ERROR("Fail!");
00071   std::cout << "6:\n";
00072   if (!tem.ensureActiveController("arms"))
00073     ROS_ERROR("Fail!");
00074 
00075   // execute with empty set of trajectories
00076   tem.execute();
00077   if (!tem.waitForExecution())
00078     ROS_ERROR("Fail!");
00079 
00080   moveit_msgs::RobotTrajectory traj1;
00081   traj1.joint_trajectory.joint_names.push_back("rj1");
00082   traj1.joint_trajectory.points.resize(1);
00083   traj1.joint_trajectory.points[0].positions.push_back(0.0);
00084   if (!tem.push(traj1))
00085     ROS_ERROR("Fail!");
00086 
00087   moveit_msgs::RobotTrajectory traj2 = traj1;
00088   traj2.joint_trajectory.joint_names.push_back("lj2");
00089   traj2.joint_trajectory.points[0].positions.push_back(1.0);
00090   traj2.multi_dof_joint_trajectory.joint_names.push_back("basej");
00091   traj2.multi_dof_joint_trajectory.points.resize(1);
00092   traj2.multi_dof_joint_trajectory.points[0].transforms.resize(1);
00093 
00094   if (!tem.push(traj2))
00095     ROS_ERROR("Fail!");
00096 
00097   traj1.multi_dof_joint_trajectory = traj2.multi_dof_joint_trajectory;
00098   if (!tem.push(traj1))
00099     ROS_ERROR("Fail!");
00100 
00101   if (!tem.executeAndWait())
00102     ROS_ERROR("Fail!");
00103 
00104   ros::waitForShutdown();
00105 
00106   return 0;
00107 }