An action for getting a gripper pose using interactive markers. More...

Public Member Functions
void	eraseAllGraspMarkers ()
geometry_msgs::PoseStamped	fromWrist (const geometry_msgs::PoseStamped &ps)
	Translate to the control pose.
geometry_msgs::PoseStamped	getDefaultPose (std::string arm_name)
void	goalCB ()
	Callback to accept a new action goal.
	GripperPoseAction ()
void	initButtonMarker ()
void	initGraspMarkers ()
void	initGripperControl ()
void	initGripperMarker ()
void	initMarkers ()
	Re-initializes all markers.
void	initObjectMarker ()
void	preemptCB ()
	Callback to allow this action to get preempted by backend.
void	selectGrasp (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	selectGraspIndex (int index)
void	selectNextGrasp ()
void	setIdle ()
	Remove the markers.
void	setSeed (const geometry_msgs::PoseStampedConstPtr &seed)
void	setSeedPoint (const geometry_msgs::PointStampedConstPtr &seed_point)
geometry_msgs::PoseStamped	toWrist (const geometry_msgs::PoseStamped &ps)
	Translate the control pose to the wrist.
bool	transformGripperPose (const std::string frame_id="/base_link")
void	updateGripperAngle ()
void	updateGripperOpening ()
void	updatePoses ()
	Update the pose of certain markers.
	~GripperPoseAction ()
Protected Member Functions
void	acceptCB ()
	Return with the gripper pose if the pose is valid, otherwise do nothing.
void	alternativesCB ()
	Find alternatives that are valid grasps.
void	cancelCB ()
	Cancel this action call.
void	cycleGrasps (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
	Cycle through planned grasps and initialize the grasp(n/m) button for switching.
void	focusCB ()
	Sends a request for the 3D camera to focus on the ghosted gripper.
std::vector < geometry_msgs::PoseStamped >	generatePosesAlongDir (tf::Pose pose, tf::Vector3 axis, double min_shift, double max_shift, double resolution, std::string frame_id)
	Generate poses that are shifted along axis, by amounts from min_shift to max_shift with spacing resolution.
std::vector < geometry_msgs::PoseStamped >	generateRotatedPoses (tf::Pose pose, tf::Vector3 axis, double min_rot, double max_rot, double resolution, std::string frame_id)
	Generate poses that are rotated about axis, by amounts from min_rot to max_rot with spacing resolution.
bool	getModelMesh (int model_id, shape_msgs::Mesh &mesh)
	Get the mesh corresponding to a database model_id.
void	graspPlanCB ()
	Call the grasp planner to find grasps near the seed.
void	graspPlanResultCB (const actionlib::SimpleClientGoalState &state, const manipulation_msgs::GraspPlanningResultConstPtr &result)
	Callback that receives the result of a TestGripperPose action.
void	gripperClickCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
	Called when the gripper is clicked; each call cycles through gripper opening values.
void	initMenus ()
	Initialize the menus for all markers.
visualization_msgs::InteractiveMarker	makeCloudMarker (const char *name, const geometry_msgs::PoseStamped &stamped, float point_size, std_msgs::ColorRGBA color)
	Create an interactive marker from a point cloud.
void	slowSync ()
void	spinOnce ()
	ROS spin update callback.
void	testGripperResultCallback (const actionlib::SimpleClientGoalState &state, const pr2_object_manipulation_msgs::TestGripperPoseResultConstPtr &result)
	Callback that receives the result of a TestGripperPose action.
void	testPose (geometry_msgs::PoseStamped pose, float opening)
	Test one grasp pose.
void	testPoses (std::vector< geometry_msgs::PoseStamped > poses, float opening)
	Test a list of grasp poses.
void	updateGripper (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
	Callback for pose updates from the controls.
Protected Attributes
MenuHandler::EntryHandle	accept_handle_
bool	active_
MenuHandler::EntryHandle	alternatives_handle_
double	alternatives_search_angle_
double	alternatives_search_angle_resolution_
double	alternatives_search_dist_
double	alternatives_search_dist_resolution_
bool	always_call_planner_
bool	always_find_alternatives_
geometry_msgs::PoseStamped	button_marker_pose_
MenuHandler::EntryHandle	cancel_handle_
object_manipulator::ActionWrapper < point_cloud_server::StoreCloudAction >	cloud_server_client_
geometry_msgs::PoseStamped	control_offset_
MenuHandler::EntryHandle	focus_handle_
ros::ServiceClient	get_model_mesh_client_
std::string	get_pose_name_
actionlib::SimpleActionServer < pr2_object_manipulation_msgs::GetGripperPoseAction >	get_pose_server_
object_manipulator::ActionWrapper < manipulation_msgs::GraspPlanningAction >	grasp_plan_client_
double	grasp_plan_region_len_x_
double	grasp_plan_region_len_y_
double	grasp_plan_region_len_z_
float	gripper_angle_
float	gripper_opening_
bool	gripper_opening_cycling_
geometry_msgs::PoseStamped	gripper_pose_
int	interface_number_
object_manipulator::MechanismInterface	mechanism_
MenuHandler	menu_gripper_
ros::NodeHandle	nh_
pcl::PointCloud< PointT >::Ptr	object_cloud_
bool	object_model_
std::vector< int >	planner_grasp_types_
int	planner_index_
std::vector < geometry_msgs::PoseStamped >	planner_poses_
std::vector< PoseState >	planner_states_
ros::NodeHandle	pnh_
std::string	point_cloud_topic_
PoseState	pose_state_
ros::Publisher	pub_cloud_
ros::Publisher	pub_focus_
InteractiveMarkerServer	server_
bool	show_invalid_grasps_
ros::Timer	slow_sync_timer_
ros::Timer	spin_timer_
ros::Subscriber	sub_point_seed_
ros::Subscriber	sub_seed_
int	task_number_
object_manipulator::ActionWrapper < pr2_object_manipulation_msgs::TestGripperPoseAction >	test_pose_client_
int	tested_grasp_index_
bool	testing_alternatives_
bool	testing_current_grasp_
bool	testing_planned_grasp_
tf::TransformListener	tfl_

Detailed Description

An action for getting a gripper pose using interactive markers.

Definition at line 83 of file pr2_interactive_gripper_pose_action.cpp.

Constructor & Destructor Documentation

GripperPoseAction::GripperPoseAction ( ) [inline]

Definition at line 156 of file pr2_interactive_gripper_pose_action.cpp.

GripperPoseAction::~GripperPoseAction ( ) [inline]

Definition at line 227 of file pr2_interactive_gripper_pose_action.cpp.

Member Function Documentation

void GripperPoseAction::acceptCB ( ) [inline, protected]

Return with the gripper pose if the pose is valid, otherwise do nothing.

Definition at line 956 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::alternativesCB ( ) [inline, protected]

Find alternatives that are valid grasps.

Definition at line 1038 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::cancelCB ( ) [inline, protected]

Cancel this action call.

Definition at line 974 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::cycleGrasps ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [inline, protected]

Cycle through planned grasps and initialize the grasp(n/m) button for switching.

Definition at line 949 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::eraseAllGraspMarkers ( ) [inline]

Definition at line 590 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::focusCB ( ) [inline, protected]

Sends a request for the 3D camera to focus on the ghosted gripper.

Definition at line 986 of file pr2_interactive_gripper_pose_action.cpp.

geometry_msgs::PoseStamped GripperPoseAction::fromWrist ( const geometry_msgs::PoseStamped & ps ) [inline]

Translate to the control pose.

Definition at line 521 of file pr2_interactive_gripper_pose_action.cpp.

std::vector<geometry_msgs::PoseStamped> GripperPoseAction::generatePosesAlongDir	(	tf::Pose	pose,
		tf::Vector3	axis,
		double	min_shift,
		double	max_shift,
		double	resolution,
		std::string	frame_id
	)		`[inline, protected]`

Generate poses that are shifted along axis, by amounts from min_shift to max_shift with spacing resolution.

Definition at line 995 of file pr2_interactive_gripper_pose_action.cpp.

std::vector<geometry_msgs::PoseStamped> GripperPoseAction::generateRotatedPoses	(	tf::Pose	pose,
		tf::Vector3	axis,
		double	min_rot,
		double	max_rot,
		double	resolution,
		std::string	frame_id
	)		`[inline, protected]`

Generate poses that are rotated about axis, by amounts from min_rot to max_rot with spacing resolution.

Definition at line 1016 of file pr2_interactive_gripper_pose_action.cpp.

geometry_msgs::PoseStamped GripperPoseAction::getDefaultPose ( std::string arm_name ) [inline]

Definition at line 542 of file pr2_interactive_gripper_pose_action.cpp.

bool GripperPoseAction::getModelMesh	(	int	model_id,
		shape_msgs::Mesh &	mesh
	)		`[inline, protected]`

Get the mesh corresponding to a database model_id.

Definition at line 1199 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::goalCB ( ) [inline]

Callback to accept a new action goal.

Definition at line 334 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::graspPlanCB ( ) [inline, protected]

Call the grasp planner to find grasps near the seed.

Definition at line 848 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::graspPlanResultCB	(	const actionlib::SimpleClientGoalState &	state,
		const manipulation_msgs::GraspPlanningResultConstPtr &	result
	)		`[inline, protected]`

Callback that receives the result of a TestGripperPose action.

Definition at line 894 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::gripperClickCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [inline, protected]

Called when the gripper is clicked; each call cycles through gripper opening values.

Definition at line 1107 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::initButtonMarker ( ) [inline]

Definition at line 649 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::initGraspMarkers ( ) [inline]

Definition at line 575 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::initGripperControl ( ) [inline]

Definition at line 697 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::initGripperMarker ( ) [inline]

Definition at line 676 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::initMarkers ( ) [inline]

Re-initializes all markers.

Definition at line 568 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::initMenus ( ) [inline, protected]

Initialize the menus for all markers.

Definition at line 1186 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::initObjectMarker ( ) [inline]

Definition at line 667 of file pr2_interactive_gripper_pose_action.cpp.

visualization_msgs::InteractiveMarker GripperPoseAction::makeCloudMarker	(	const char *	name,
		const geometry_msgs::PoseStamped &	stamped,
		float	point_size,
		std_msgs::ColorRGBA	color
	)		`[inline, protected]`

Create an interactive marker from a point cloud.

Definition at line 1223 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::preemptCB ( ) [inline]

Callback to allow this action to get preempted by backend.

Definition at line 498 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::selectGrasp ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [inline]

Definition at line 642 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::selectGraspIndex ( int index ) [inline]

Definition at line 623 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::selectNextGrasp ( ) [inline]

Definition at line 607 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::setIdle ( ) [inline]

Remove the markers.

Definition at line 322 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::setSeed ( const geometry_msgs::PoseStampedConstPtr & seed ) [inline]

Definition at line 267 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::setSeedPoint ( const geometry_msgs::PointStampedConstPtr & seed_point ) [inline]

Definition at line 256 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::slowSync ( ) [inline, protected]

Definition at line 717 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::spinOnce ( ) [inline, protected]

ROS spin update callback.

Definition at line 711 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::testGripperResultCallback	(	const actionlib::SimpleClientGoalState &	state,
		const pr2_object_manipulation_msgs::TestGripperPoseResultConstPtr &	result
	)		`[inline, protected]`