grasp_planner_node.cpp
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29 
30 // Author: Michael Ferguson
31 
32 #include <ros/ros.h>
35 #include <grasping_msgs/GraspPlanningAction.h>
36 
38 {
40 
41 public:
43  {
44  // Planner
46 
47  // Action for grasp planning
48  server_.reset(new server_t(n, "plan",
49  boost::bind(&GraspPlannerNode::executeCallback, this, _1),
50  false));
51  server_->start();
52  }
53 
54 private:
55  void executeCallback(const grasping_msgs::GraspPlanningGoalConstPtr& goal)
56  {
57  grasping_msgs::GraspPlanningResult result;
58  planner_->plan(goal->object, result.grasps);
59  server_->setSucceeded(result);
60  }
61 
64 };
65 
66 int main(int argc, char* argv[])
67 {
68  ros::init(argc, argv, "grasp_planner");
69  ros::NodeHandle nh("~");
70  GraspPlannerNode planning(nh);
71  ros::spin();
72  return 0;
73 }
void executeCallback(const grasping_msgs::GraspPlanningGoalConstPtr &goal)
boost::shared_ptr< server_t > server_
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
ROSCPP_DECL void spin(Spinner &spinner)
GraspPlannerNode(ros::NodeHandle n)
int main(int argc, char *argv[])
boost::shared_ptr< simple_grasping::ShapeGraspPlanner > planner_
actionlib::SimpleActionServer< grasping_msgs::GraspPlanningAction > server_t
A simple grasp planner that uses the bounding box shape to generate viable grasps.


simple_grasping
Author(s): Michael Ferguson
autogenerated on Wed Jun 5 2019 20:04:47