cob_pick_place_action.h

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0

 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 
 
#ifndef COB_PICK_ACTION_H
#define COB_PICK_ACTION_H

#include <iostream>
#include <fstream>
#include <ros/ros.h>
#include <ros/package.h>
#include <actionlib/server/simple_action_server.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>

#include <tf/tf.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_datatypes.h>

#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <moveit/move_group_interface/move_group_interface.h>
#include <geometric_shapes/solid_primitive_dims.h>
#include <moveit_msgs/Grasp.h>

#include <cob_pick_place_action/CobPickAction.h>
#include <cob_pick_place_action/CobPlaceAction.h>
#include <cob_grasp_generation/QueryGraspsAction.h>
#include <GraspTable.h>



class CobPickPlaceActionServer
{
private:
        ros::NodeHandle nh_;

        ros::Publisher pub_co; //publisher for collision_objects
        ros::Publisher pub_ao; //publisher for attached_collision_objects

        boost::scoped_ptr<actionlib::SimpleActionServer<cob_pick_place_action::CobPickAction> > as_pick;
        boost::scoped_ptr<actionlib::SimpleActionServer<cob_pick_place_action::CobPlaceAction> > as_place;

        boost::scoped_ptr<actionlib::SimpleActionClient<cob_grasp_generation::QueryGraspsAction> > ac_grasps_or;

        moveit::planning_interface::MoveGroupInterface group;

        char* GraspTableIniFile;
        GraspTable* m_GraspTable;

        bool last_grasp_valid;
        std::string last_object_name;
        tf::TransformListener tf_listener_;
        tf::TransformBroadcaster tf_broadcaster_;

        std::map<unsigned int,std::string> map_classid_to_classname;

public:
        CobPickPlaceActionServer(std::string group_name) : group(group_name) {}
        ~CobPickPlaceActionServer();

        void initialize();
        void run();

        void pick_goal_cb(const cob_pick_place_action::CobPickGoalConstPtr &goal);
        void place_goal_cb(const cob_pick_place_action::CobPlaceGoalConstPtr &goal);

        void insertObject(std::string object_name, unsigned int object_class, geometry_msgs::PoseStamped object_pose);

        void fillAllGraspsKIT(unsigned int objectClassId, std::string gripper_type, geometry_msgs::PoseStamped object_pose, std::vector<moveit_msgs::Grasp> &grasps);
        void fillSingleGraspKIT(unsigned int objectClassId, std::string gripper_type, unsigned int grasp_id, geometry_msgs::PoseStamped object_pose, std::vector<moveit_msgs::Grasp> &grasps);
        void convertGraspKIT(Grasp* current_grasp, geometry_msgs::PoseStamped object_pose, std::vector<moveit_msgs::Grasp> &grasps);

        void fillGraspsOR(unsigned int objectClassId, std::string gripper_type, std::string gripper_side, unsigned int grasp_id, geometry_msgs::PoseStamped object_pose, std::vector<moveit_msgs::Grasp> &grasps);

        trajectory_msgs::JointTrajectory MapHandConfiguration(sensor_msgs::JointState table_config);
        tf::Transform transformPose(tf::Transform transform_O_from_SDH, tf::Transform transform_HEADER_from_OBJECT, std::string object_frame_id);
        moveit_msgs::GripperTranslation calculateApproachDirection(geometry_msgs::Pose msg_pose_grasp_FOOTPRINT_from_ARM7, geometry_msgs::Pose msg_pose_pre_FOOTPRINT_from_ARM7);

};
#endif