Public Member Functions
void	goalCB ()

bool	pick (const std::string &obj_name, geometry_msgs::PoseStamped &pose)

bool	pickAndPlace (const std::string &obj_name, geometry_msgs::PoseStamped &pick_pose, geometry_msgs::PoseStamped &place_pose)

	PickAndPlaceServer (const std::string name)

bool	place (const std::string &obj_name, const geometry_msgs::PoseStamped &pose, double pick_position_z)

void	preemptCB ()

	~PickAndPlaceServer ()

Private Member Functions
float	fRand (float min, float max)

const char *	mec2str (const moveit::planning_interface::MoveItErrorCode &mec)

bool	setGripper (float opening, bool wait_for_complete=true)

bool	transformPose (const std::string &in_frame, const std::string &out_frame, const geometry_msgs::PoseStamped &in_pose, geometry_msgs::PoseStamped &out_pose)

bool	validateTargetPose (geometry_msgs::PoseStamped &target, bool compensate_backlash, int attempt=0)

Private Attributes
std::string	action_name_

moveit::planning_interface::MoveGroupInterface	arm_

std::string	arm_link

actionlib::SimpleActionServer< turtlebot_arm_object_manipulation::PickAndPlaceAction >	as_

double	attach_time

ros::ServiceClient	clear_octomap_srv_

double	detach_time

std_srvs::Empty	empty_srv_

turtlebot_arm_object_manipulation::PickAndPlaceFeedback	feedback_

turtlebot_arm_object_manipulation::PickAndPlaceGoalConstPtr	goal_

moveit::planning_interface::MoveGroupInterface	gripper_

double	gripper_open

const int	PICK_ATTEMPTS = 5

const int	PLACE_ATTEMPTS = PICK_ATTEMPTS

moveit::planning_interface::PlanningSceneInterface	planning_scene_interface_

turtlebot_arm_object_manipulation::PickAndPlaceResult	result_

ros::Publisher	target_pose_pub_

tf::TransformListener	tf_listener_

double	z_backlash

Detailed Description

Definition at line 56 of file pick_and_place_action_server.cpp.

Constructor & Destructor Documentation

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

inline

Definition at line 90 of file pick_and_place_action_server.cpp.

turtlebot_arm_object_manipulation::PickAndPlaceServer::~PickAndPlaceServer ( )

inline

Definition at line 114 of file pick_and_place_action_server.cpp.

Member Function Documentation

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

inlineprivate

Definition at line 494 of file pick_and_place_action_server.cpp.

void turtlebot_arm_object_manipulation::PickAndPlaceServer::goalCB ( )

inline

Definition at line 119 of file pick_and_place_action_server.cpp.

const char* turtlebot_arm_object_manipulation::PickAndPlaceServer::mec2str ( const moveit::planning_interface::MoveItErrorCode & mec )

inlineprivate

Definition at line 499 of file pick_and_place_action_server.cpp.

bool turtlebot_arm_object_manipulation::PickAndPlaceServer::pick	(	const std::string &	obj_name,
		geometry_msgs::PoseStamped &	pose
	)

inline

Definition at line 177 of file pick_and_place_action_server.cpp.

bool turtlebot_arm_object_manipulation::PickAndPlaceServer::pickAndPlace	(	const std::string &	obj_name,
		geometry_msgs::PoseStamped &	pick_pose,
		geometry_msgs::PoseStamped &	place_pose
	)

inline

Definition at line 155 of file pick_and_place_action_server.cpp.

bool turtlebot_arm_object_manipulation::PickAndPlaceServer::place	(	const std::string &	obj_name,
		const geometry_msgs::PoseStamped &	pose,
		double	pick_position_z
	)

inline

Definition at line 302 of file pick_and_place_action_server.cpp.

void turtlebot_arm_object_manipulation::PickAndPlaceServer::preemptCB ( )

inline

Definition at line 145 of file pick_and_place_action_server.cpp.

bool turtlebot_arm_object_manipulation::PickAndPlaceServer::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 472 of file pick_and_place_action_server.cpp.

bool turtlebot_arm_object_manipulation::PickAndPlaceServer::transformPose	(	const std::string &	in_frame,
		const std::string &	out_frame,
		const geometry_msgs::PoseStamped &	in_pose,
		geometry_msgs::PoseStamped &	out_pose
	)

inlineprivate

Definition at line 557 of file pick_and_place_action_server.cpp.

bool turtlebot_arm_object_manipulation::PickAndPlaceServer::validateTargetPose	(	geometry_msgs::PoseStamped &	target,
		bool	compensate_backlash,
		int	attempt = `0`
	)

inlineprivate

Convert a simple 3D point into a valid pick/place pose. The orientation Euler angles are calculated as a function of the x and y coordinates, plus some random variations increasing with the number of attempts to improve our chances of successful planning.

Parameters

target	Pose target to validate
compensate_backlash	Increment z to cope with backlash and low pitch poses
attempt	The actual attempts number

Returns: True of success, false otherwise

Definition at line 418 of file pick_and_place_action_server.cpp.

Member Data Documentation

std::string turtlebot_arm_object_manipulation::PickAndPlaceServer::action_name_

private

Definition at line 60 of file pick_and_place_action_server.cpp.

moveit::planning_interface::MoveGroupInterface turtlebot_arm_object_manipulation::PickAndPlaceServer::arm_

private

Definition at line 73 of file pick_and_place_action_server.cpp.

std::string turtlebot_arm_object_manipulation::PickAndPlaceServer::arm_link

private

Definition at line 80 of file pick_and_place_action_server.cpp.

actionlib::SimpleActionServer<turtlebot_arm_object_manipulation::PickAndPlaceAction> turtlebot_arm_object_manipulation::PickAndPlaceServer::as_

private

Definition at line 59 of file pick_and_place_action_server.cpp.

double turtlebot_arm_object_manipulation::PickAndPlaceServer::attach_time

private

Definition at line 82 of file pick_and_place_action_server.cpp.

ros::ServiceClient turtlebot_arm_object_manipulation::PickAndPlaceServer::clear_octomap_srv_

private

Definition at line 68 of file pick_and_place_action_server.cpp.

double turtlebot_arm_object_manipulation::PickAndPlaceServer::detach_time

private

Definition at line 83 of file pick_and_place_action_server.cpp.

std_srvs::Empty turtlebot_arm_object_manipulation::PickAndPlaceServer::empty_srv_

private

Definition at line 66 of file pick_and_place_action_server.cpp.

turtlebot_arm_object_manipulation::PickAndPlaceFeedback turtlebot_arm_object_manipulation::PickAndPlaceServer::feedback_

private

Definition at line 62 of file pick_and_place_action_server.cpp.

turtlebot_arm_object_manipulation::PickAndPlaceGoalConstPtr turtlebot_arm_object_manipulation::PickAndPlaceServer::goal_

private

Definition at line 64 of file pick_and_place_action_server.cpp.

moveit::planning_interface::MoveGroupInterface turtlebot_arm_object_manipulation::PickAndPlaceServer::gripper_

private

Definition at line 74 of file pick_and_place_action_server.cpp.

double turtlebot_arm_object_manipulation::PickAndPlaceServer::gripper_open

private

Definition at line 81 of file pick_and_place_action_server.cpp.

const int turtlebot_arm_object_manipulation::PickAndPlaceServer::PICK_ATTEMPTS = 5

private

Definition at line 86 of file pick_and_place_action_server.cpp.

const int turtlebot_arm_object_manipulation::PickAndPlaceServer::PLACE_ATTEMPTS = PICK_ATTEMPTS

private

Definition at line 87 of file pick_and_place_action_server.cpp.

moveit::planning_interface::PlanningSceneInterface turtlebot_arm_object_manipulation::PickAndPlaceServer::planning_scene_interface_

private

Definition at line 77 of file pick_and_place_action_server.cpp.

turtlebot_arm_object_manipulation::PickAndPlaceResult turtlebot_arm_object_manipulation::PickAndPlaceServer::result_

private

Definition at line 63 of file pick_and_place_action_server.cpp.

ros::Publisher turtlebot_arm_object_manipulation::PickAndPlaceServer::target_pose_pub_

private

Definition at line 67 of file pick_and_place_action_server.cpp.

tf::TransformListener turtlebot_arm_object_manipulation::PickAndPlaceServer::tf_listener_

private

Definition at line 70 of file pick_and_place_action_server.cpp.

double turtlebot_arm_object_manipulation::PickAndPlaceServer::z_backlash

private

Definition at line 84 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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation