RobotNavigator.h File Reference

#include <ros/ros.h>
#include <algorithm>
#include <trajectory_execution_monitor/joint_state_recorder.h>
#include <trajectory_execution_monitor/follow_joint_trajectory_controller_handler.h>
#include <trajectory_execution_monitor/trajectory_execution_monitor.h>
#include <tabletop_object_detector/TabletopSegmentation.h>
#include <tabletop_object_detector/TabletopObjectRecognition.h>
#include <planning_environment/models/collision_models.h>
#include <arm_navigation_msgs/PlanningScene.h>
#include <arm_navigation_msgs/SetPlanningSceneDiff.h>
#include <planning_environment/models/model_utils.h>
#include <arm_navigation_msgs/GetMotionPlan.h>
#include <trajectory_msgs/JointTrajectory.h>
#include <arm_navigation_msgs/FilterJointTrajectoryWithConstraints.h>
#include <object_manipulator/grasp_execution/grasp_tester_fast.h>
#include <object_manipulator/place_execution/place_tester_fast.h>
#include <actionlib/client/simple_action_client.h>
#include <household_objects_database_msgs/GetModelMesh.h>
#include <household_objects_database_msgs/GetModelDescription.h>
#include <object_manipulation_msgs/GraspPlanning.h>
#include <planning_environment/util/construct_object.h>
#include <object_manipulation_tools/controller_utils/GraspPoseControllerHandler.h>
#include <object_manipulation_tools/manipulation_utils/PlaceSequenceValidator.h>
#include <object_manipulation_tools/manipulation_utils/GraspSequenceValidator.h>
#include <tf/transform_listener.h>

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Classes
class	RobotNavigator
Namespaces
namespace	RobotNavigatorParameters
Typedefs
typedef actionlib::SimpleActionClient < object_manipulation_msgs::GraspHandPostureExecutionAction >	GraspActionServerClient
typedef boost::shared_ptr < object_manipulator::GraspTesterFast >	GraspTesterFastPtr
typedef boost::shared_ptr < GraspSequenceValidator >	GraspTesterPtr
typedef boost::shared_ptr < PlaceSequenceValidator >	PlaceSequencePtr
Variables
static const std::string	RobotNavigatorParameters::DEFAULT_ARM_GROUP = "sia20d_arm"
static const std::string	RobotNavigatorParameters::DEFAULT_GRASP_ACTION_SERVICE = "/grasp_execution_action"
static const std::string	RobotNavigatorParameters::DEFAULT_GRASP_PLANNING_SERVICE = "/plan_point_cluster_grasp"
static const std::string	RobotNavigatorParameters::DEFAULT_GRIPPER_GROUP = "end_effector"
static const std::string	RobotNavigatorParameters::DEFAULT_GRIPPER_LINK = "palm"
static const std::string	RobotNavigatorParameters::DEFAULT_IK_PLUGING = "SIA20D_Mesh_manipulator_kinematics/IKFastKinematicsPlugin"
static const std::string	RobotNavigatorParameters::DEFAULT_JOINT_STATES_TOPIC = "/joint_states"
static const std::string	RobotNavigatorParameters::DEFAULT_MESH_DATABASE_SERVICE = "/objects_database_node/get_model_mesh"
static const std::string	RobotNavigatorParameters::DEFAULT_MODEL_DATABASE_SERVICE = "/objects_database_node/get_model_description"
static const std::string	RobotNavigatorParameters::DEFAULT_PATH_PLANNER_SERVICE = "/ompl_planning/plan_kinematic_path"
static const std::string	RobotNavigatorParameters::DEFAULT_PLANNING_SCENE_SERVICE = "/environment_server/set_planning_scene_diff"
static const std::string	RobotNavigatorParameters::DEFAULT_RECOGNITION_SERVICE = "/tabletop_object_recognition"
static const std::string	RobotNavigatorParameters::DEFAULT_SEGMENTATION_SERVICE = "/tabletop_segmentation"
static const std::string	RobotNavigatorParameters::DEFAULT_TRAJECTORY_ACTION_SERVICE = "/joint_trajectory_action"
static const std::string	RobotNavigatorParameters::DEFAULT_TRAJECTORY_FILTER_SERVICE = "/trajectory_filter_server/filter_trajectory_with_constraints"
static const std::string	RobotNavigatorParameters::DEFAULT_WRIST_LINK = "link_t"
static const double	RobotNavigatorParameters::DF_PICK_APPROACH_DISTANCE = 0.1f
static const double	RobotNavigatorParameters::DF_PLACE_APPROACH_DISTANCE = 0.1f
static const double	RobotNavigatorParameters::DF_PLACE_RETREAT_DISTANCE = 0.1f
static const std::string	RobotNavigatorParameters::PARAM_NAME_ARM_GROUP = "arm_group"
static const std::string	RobotNavigatorParameters::PARAM_NAME_GRASP_ACTION_SERVICE = "grasp_action_service_name"
static const std::string	RobotNavigatorParameters::PARAM_NAME_GRASP_PLANNING_SERVICE = "grasp_planning_service_name"
static const std::string	RobotNavigatorParameters::PARAM_NAME_GRIPPER_GROUP = "gripper_group"
static const std::string	RobotNavigatorParameters::PARAM_NAME_GRIPPER_LINK = "gripper_link"
static const std::string	RobotNavigatorParameters::PARAM_NAME_IK_PLUGING = "arm_inverse_kinematics_plugin"
static const std::string	RobotNavigatorParameters::PARAM_NAME_JOINT_STATES_TOPIC = "joint_state_topic"
static const std::string	RobotNavigatorParameters::PARAM_NAME_MESH_DATABASE_SERVICE = "mesh_database_service_name"
static const std::string	RobotNavigatorParameters::PARAM_NAME_MODEL_DATABASE_SERVICE = "model_database_service_name"
static const std::string	RobotNavigatorParameters::PARAM_NAME_PATH_PLANNER_SERVICE = "planner_service_name"
static const std::string	RobotNavigatorParameters::PARAM_NAME_PLANNING_SCENE_SERVICE = "planning_scene_service_name"
static const std::string	RobotNavigatorParameters::PARAM_NAME_RECOGNITION_SERVICE = "recognition_service_name"
static const std::string	RobotNavigatorParameters::PARAM_NAME_SEGMENTATION_SERVICE = "segmentation_service_name"
static const std::string	RobotNavigatorParameters::PARAM_NAME_TRAJECTORY_ACTION_SERVICE = "joint_trajectory_service_name"
static const std::string	RobotNavigatorParameters::PARAM_NAME_TRAJECTORY_FILTER_SERVICE = "trajectory_filter_service_name"
static const std::string	RobotNavigatorParameters::PARAM_NAME_WRIST_LINK = "wrist_link"
static const std::string	RobotNavigatorParameters::PARAM_PICK_APPROACH_DISTANCE = "/pick_approach_distance"
static const std::string	RobotNavigatorParameters::PARAM_PLACE_APPROACH_DISTANCE = "/place_approach_distance"
static const std::string	RobotNavigatorParameters::PARAM_PLACE_RETREAT_DISTANCE = "/place_retreat_distance"

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Typedef Documentation

typedef actionlib::SimpleActionClient<object_manipulation_msgs::GraspHandPostureExecutionAction> GraspActionServerClient

Definition at line 41 of file RobotNavigator.h.

typedef boost::shared_ptr<object_manipulator::GraspTesterFast> GraspTesterFastPtr

Definition at line 44 of file RobotNavigator.h.

typedef boost::shared_ptr<GraspSequenceValidator> GraspTesterPtr

Definition at line 43 of file RobotNavigator.h.

typedef boost::shared_ptr<PlaceSequenceValidator> PlaceSequencePtr

Definition at line 45 of file RobotNavigator.h.