turtlebot_arm_object_manipulation::MoveToTargetServer Class Reference

Public Member Functions
void	goalCB ()
	MoveToTargetServer (const std::string name)
void	preemptCB ()
	~MoveToTargetServer ()

Private Member Functions
float	fRand (float min, float max)
bool	moveArmTo (const std::string &target)
bool	moveArmTo (const geometry_msgs::PoseStamped &target)
bool	setGripper (float opening, bool wait_for_complete=true)

Private Attributes
std::string	action_name_
moveit::planning_interface::MoveGroupInterface	arm_
actionlib::SimpleActionServer< turtlebot_arm_object_manipulation::MoveToTargetAction >	as_
turtlebot_arm_object_manipulation::MoveToTargetFeedback	feedback_
turtlebot_arm_object_manipulation::MoveToTargetGoalConstPtr	goal_
moveit::planning_interface::MoveGroupInterface	gripper_
turtlebot_arm_object_manipulation::MoveToTargetResult	result_
ros::Publisher	target_pose_pub_

Detailed Description

Action server providing more basic arm motions:

• move to a named target
• move to a joint state configuration
• move to a particular pose target

Definition at line 588 of file pick_and_place_action_server.cpp.

Constructor & Destructor Documentation

turtlebot_arm_object_manipulation::MoveToTargetServer::MoveToTargetServer ( const std::string  name )

inline

Definition at line 605 of file pick_and_place_action_server.cpp.

turtlebot_arm_object_manipulation::MoveToTargetServer::~MoveToTargetServer ( )

inline

Definition at line 618 of file pick_and_place_action_server.cpp.

Member Function Documentation

float turtlebot_arm_object_manipulation::MoveToTargetServer::fRand ( float  min, float  max  )

inlineprivate

Definition at line 789 of file pick_and_place_action_server.cpp.

void turtlebot_arm_object_manipulation::MoveToTargetServer::goalCB ( )

inline

Definition at line 623 of file pick_and_place_action_server.cpp.

bool turtlebot_arm_object_manipulation::MoveToTargetServer::moveArmTo ( const std::string &  target )

inlineprivate

Move arm to a named configuration, normally described in the robot semantic description SRDF file.

Parameters

target

Named target to achieve

Returns

True of success, false otherwise

Definition at line 667 of file pick_and_place_action_server.cpp.

bool turtlebot_arm_object_manipulation::MoveToTargetServer::moveArmTo ( const geometry_msgs::PoseStamped &  target )

inlineprivate

Move arm to a target pose. Only position coordinates are taken into account; the orientation is calculated according to the direction and distance to the target.

Parameters

target

Pose target to achieve

Returns

True of success, false otherwise

Definition at line 695 of file pick_and_place_action_server.cpp.

void turtlebot_arm_object_manipulation::MoveToTargetServer::preemptCB ( )

inline

Definition at line 651 of file pick_and_place_action_server.cpp.

bool turtlebot_arm_object_manipulation::MoveToTargetServer::setGripper ( float  opening, bool  wait_for_complete = true  )

inlineprivate

Set gripper opening.

Parameters

opening	Physical opening of the gripper, in meters
wait_for_complete	Wait or not for the execution of the trajectory to complete

Returns

True of success, false otherwise

Definition at line 767 of file pick_and_place_action_server.cpp.

Member Data Documentation

std::string turtlebot_arm_object_manipulation::MoveToTargetServer::action_name_

private

Definition at line 592 of file pick_and_place_action_server.cpp.

moveit::planning_interface::MoveGroupInterface turtlebot_arm_object_manipulation::MoveToTargetServer::arm_

private

Definition at line 601 of file pick_and_place_action_server.cpp.

actionlib::SimpleActionServer<turtlebot_arm_object_manipulation::MoveToTargetAction> turtlebot_arm_object_manipulation::MoveToTargetServer::as_

private

Definition at line 591 of file pick_and_place_action_server.cpp.

turtlebot_arm_object_manipulation::MoveToTargetFeedback turtlebot_arm_object_manipulation::MoveToTargetServer::feedback_

private

Definition at line 594 of file pick_and_place_action_server.cpp.

turtlebot_arm_object_manipulation::MoveToTargetGoalConstPtr turtlebot_arm_object_manipulation::MoveToTargetServer::goal_

private

Definition at line 596 of file pick_and_place_action_server.cpp.

moveit::planning_interface::MoveGroupInterface turtlebot_arm_object_manipulation::MoveToTargetServer::gripper_

private

Definition at line 602 of file pick_and_place_action_server.cpp.

turtlebot_arm_object_manipulation::MoveToTargetResult turtlebot_arm_object_manipulation::MoveToTargetServer::result_

private

Definition at line 595 of file pick_and_place_action_server.cpp.

ros::Publisher turtlebot_arm_object_manipulation::MoveToTargetServer::target_pose_pub_

private

Definition at line 598 of file pick_and_place_action_server.cpp.

---

The documentation for this class was generated from the following file:

• pick_and_place_action_server.cpp