#include <pen_gripper.h>

Public Member Functions
void	close_gripper (const string gripper)
void	grip_pen ()
bool	handle_req (portrait_robot_msgs::alubsc_node_instr::Request &req, portrait_robot_msgs::alubsc_node_instr::Response &res)
void	narrow_stereo_cb (const sensor_msgs::PointCloud2ConstPtr &cloud_msg)
void	open_gripper (const string gripper)
	PenGripper (ros::NodeHandle &nh)
	constructor
void	reset ()
void	take_start_position ()
	~PenGripper ()
	destructor
Public Attributes
bool	abort
	if false the pen gripper is active
portrait_robot_msgs::alubsc_status_msg	status
	status msg to the gui
ros::ServiceClient	status_clt
	status client for the status communication
bool	success
	action success
Private Attributes
EECartImpedArm *	arm_l
EECartImpedArm *	arm_r
actionlib::SimpleActionClient < pr2_controllers_msgs::Pr2GripperCommandAction > *	GripperLeft
actionlib::SimpleActionClient < pr2_controllers_msgs::Pr2GripperCommandAction > *	GripperRight
actionlib::SimpleActionClient < pr2_controllers_msgs::PointHeadAction > *	head
pcl::PointXYZ	l_start_pos
ros::Publisher	marker_middle_pub
ros::NodeHandle *	n
ros::Publisher	pcl_pub
ros::Subscriber	pcl_sub
pcl::PointCloud< pcl::PointXYZ >	pen_cloud
pcl::PointXYZ	r_start_pos
pen	red_pen
tf::TransformListener	tflistener

Detailed Description

Definition at line 68 of file pen_gripper.h.

Constructor & Destructor Documentation

PenGripper::PenGripper ( ros::NodeHandle & nh )

constructor

Definition at line 33 of file pen_gripper.cpp.

PenGripper::~PenGripper ( )

destructor

Definition at line 23 of file pen_gripper.cpp.

Member Function Documentation

void PenGripper::close_gripper ( const string gripper )

close the gripper

Parameters:

gripper can be left or right

Definition at line 154 of file pen_gripper.cpp.

void PenGripper::grip_pen ( )

try to grip the pen when its ready and take it into an end position

Definition at line 528 of file pen_gripper.cpp.

bool PenGripper::handle_req	(	portrait_robot_msgs::alubsc_node_instr::Request &	req,
		portrait_robot_msgs::alubsc_node_instr::Response &	res
	)

handles the client requests

Definition at line 600 of file pen_gripper.cpp.

void PenGripper::narrow_stereo_cb ( const sensor_msgs::PointCloud2ConstPtr & cloud_msg )

locate the pen head head position over the table from a narrow_stereo_textured point cloud only when a request is send. if the table is found, the mid point of the pen will be the pen position and the pen status is set to ready. assumptions: 1. The pen stands in the gripping range/narrow stereo range 2. The pen is longer than 0.10 m. 3. The pen head is the highest point over the table surface 4. The table surface is at least 0.60 m high

Definition at line 297 of file pen_gripper.cpp.

void PenGripper::open_gripper ( const string gripper )

open the gripper

Parameters:

gripper can be left or right

Definition at line 100 of file pen_gripper.cpp.

void PenGripper::reset ( )

reset the pen gripper variables to the start values

Definition at line 589 of file pen_gripper.cpp.

void PenGripper::take_start_position ( )

start the projector, move the head to a fixed position to look at the table surface, move the gripper in a start position at the right/left side of the pr2

Definition at line 210 of file pen_gripper.cpp.