demo_scene.cpp

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2012, Willow Garage, Inc.
 *  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 Willow Garage 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: Ioan Sucan */
 
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <geometric_shapes/solid_primitive_dims.h>
 
static const std::string ROBOT_DESCRIPTION = "robot_description";
 
void sendKnife()
{
  ros::NodeHandle nh;
  ros::Publisher pub_aco = nh.advertise<moveit_msgs::AttachedCollisionObject>("attached_collision_object", 10);
 
  moveit_msgs::AttachedCollisionObject aco;
  aco.link_name = "r_wrist_roll_link";
  aco.touch_links.push_back("r_wrist_roll_link");
  aco.touch_links.push_back("r_gripper_palm_link");
  aco.touch_links.push_back("r_gripper_led_frame");
  aco.touch_links.push_back("r_gripper_motor_accelerometer_link");
  aco.touch_links.push_back("r_gripper_tool_frame");
  aco.touch_links.push_back("r_gripper_motor_slider_link");
  aco.touch_links.push_back("r_gripper_motor_screw_link");
  aco.touch_links.push_back("r_gripper_l_finger_link");
  aco.touch_links.push_back("r_gripper_l_finger_tip_link");
  aco.touch_links.push_back("r_gripper_r_finger_link");
  aco.touch_links.push_back("r_gripper_r_finger_tip_link");
  aco.touch_links.push_back("r_gripper_l_finger_tip_frame");
 
  moveit_msgs::CollisionObject& co = aco.object;
  co.id = "knife";
  co.header.stamp = ros::Time::now();
  co.header.frame_id = aco.link_name;
  co.pose.orientation.w = 1.0;
  co.operation = moveit_msgs::CollisionObject::ADD;
  co.primitives.resize(1);
  co.primitives[0].type = shape_msgs::SolidPrimitive::BOX;
  co.primitives[0].dimensions.push_back(0.1);
  co.primitives[0].dimensions.push_back(0.1);
  co.primitives[0].dimensions.push_back(0.4);
  co.primitive_poses.resize(1);
  co.primitive_poses[0].position.x = 0.1;
  co.primitive_poses[0].position.y = 0;
  co.primitive_poses[0].position.z = -0.2;
  co.primitive_poses[0].orientation.w = 1.0;
 
  pub_aco.publish(aco);
  ros::Duration(1).sleep();
  pub_aco.publish(aco);
  ROS_INFO("Object published.");
  ros::Duration(1.5).sleep();
}
 
int main(int argc, char** argv)
{
  ros::init(argc, argv, "demo", ros::init_options::AnonymousName);
 
  ros::AsyncSpinner spinner(1);
  spinner.start();
 
  sendKnife();
 
  ros::waitForShutdown();
 
  return 0;
}