moveit_group_api.cpp

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2013, SRI International
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of SRI International nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/* Author: Sachin Chitta */

#include <moveit/move_group_interface/move_group.h>
#include <moveit/planning_scene_interface/planning_scene_interface.h>

#include <moveit_msgs/DisplayRobotState.h>
#include <moveit_msgs/DisplayTrajectory.h>

#include <moveit_msgs/AttachedCollisionObject.h>
#include <moveit_msgs/CollisionObject.h>

int main(int argc, char **argv)
{
  ros::init(argc, argv, "move_group_interface_tutorial");
  ros::NodeHandle node_handle;
  ros::AsyncSpinner spinner(1);
  spinner.start();



  sleep(20.0);



  moveit::planning_interface::MoveGroup group("arm");


  moveit::planning_interface::PlanningSceneInterface planning_scene_interface;


  ros::Publisher display_publisher = node_handle.advertise<moveit_msgs::DisplayTrajectory>("/move_group/display_planned_path", 1, true);
  moveit_msgs::DisplayTrajectory display_trajectory;

  robot_state::RobotState start_state(*group.getCurrentState());
  geometry_msgs::Pose start_pose2;
  start_pose2.orientation.w = -1.0;
  start_pose2.position.x = 0.55;
  start_pose2.position.y = -0.05;
  start_pose2.position.z = 0.8;

  moveit::planning_interface::MoveGroup::Plan my_plan;
  std::vector<geometry_msgs::Pose> waypoints;

  geometry_msgs::Pose target_pose3 = start_pose2;
  target_pose3.position.x += 1;
  target_pose3.position.z += 1;
  waypoints.push_back(target_pose3);  // up and out

  target_pose3.position.y -= 1;
  waypoints.push_back(target_pose3);  // left

  target_pose3.position.z -= 1;
  target_pose3.position.y += 0.2;
  target_pose3.position.x -= 0.2;
  waypoints.push_back(target_pose3);
  moveit_msgs::RobotTrajectory trajectory;
  double fraction = group.computeCartesianPath(waypoints,
                                               0.01,  // eef_step
                                               0.0,   // jump_threshold
                                               trajectory);

  ROS_INFO("Visualizing plan 4 (cartesian path) (%.2f%% acheived)",
           fraction * 100.0);
/* Sleep to give Rviz time to visualize the plan. */
  sleep(15.0);
  my_plan.trajectory_ = trajectory;
  group.execute(my_plan);

// END_TUTORIAL

  ros::shutdown();
  return 0;
}