00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2012, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Ioan Sucan */ 00036 00037 #ifndef MOVEIT_MOVE_GROUP_PICK_PLACE_ACTION_CAPABILITY_ 00038 #define MOVEIT_MOVE_GROUP_PICK_PLACE_ACTION_CAPABILITY_ 00039 00040 #include <moveit/move_group/move_group_capability.h> 00041 #include <actionlib/server/simple_action_server.h> 00042 #include <moveit/pick_place/pick_place.h> 00043 #include <moveit_msgs/PickupAction.h> 00044 #include <moveit_msgs/PlaceAction.h> 00045 00046 namespace move_group 00047 { 00048 00049 class MoveGroupPickPlaceAction : public MoveGroupCapability 00050 { 00051 public: 00052 00053 MoveGroupPickPlaceAction(); 00054 virtual void initialize(); 00055 00056 private: 00057 00058 void executePickupCallback(const moveit_msgs::PickupGoalConstPtr& goal); 00059 void executePlaceCallback(const moveit_msgs::PlaceGoalConstPtr& goal); 00060 00061 void executePickupCallback_PlanOnly(const moveit_msgs::PickupGoalConstPtr& goal, moveit_msgs::PickupResult &action_res); 00062 void executePickupCallback_PlanAndExecute(const moveit_msgs::PickupGoalConstPtr& goal, moveit_msgs::PickupResult &action_res); 00063 00064 void executePlaceCallback_PlanOnly(const moveit_msgs::PlaceGoalConstPtr& goal, moveit_msgs::PlaceResult &action_res); 00065 void executePlaceCallback_PlanAndExecute(const moveit_msgs::PlaceGoalConstPtr& goal, moveit_msgs::PlaceResult &action_res); 00066 00067 bool planUsingPickPlace_Pickup(const moveit_msgs::PickupGoal& goal, moveit_msgs::PickupResult *action_res, plan_execution::ExecutableMotionPlan &plan); 00068 bool planUsingPickPlace_Place(const moveit_msgs::PlaceGoal& goal, moveit_msgs::PlaceResult *action_res, plan_execution::ExecutableMotionPlan &plan); 00069 00070 void preemptPickupCallback(); 00071 void preemptPlaceCallback(); 00072 00073 void startPickupLookCallback(); 00074 void startPickupExecutionCallback(); 00075 00076 void startPlaceLookCallback(); 00077 void startPlaceExecutionCallback(); 00078 00079 void setPickupState(MoveGroupState state); 00080 void setPlaceState(MoveGroupState state); 00081 00082 void fillGrasps(moveit_msgs::PickupGoal& goal); 00083 00084 pick_place::PickPlacePtr pick_place_; 00085 00086 boost::scoped_ptr<actionlib::SimpleActionServer<moveit_msgs::PickupAction> > pickup_action_server_; 00087 moveit_msgs::PickupFeedback pickup_feedback_; 00088 00089 boost::scoped_ptr<actionlib::SimpleActionServer<moveit_msgs::PlaceAction> > place_action_server_; 00090 moveit_msgs::PlaceFeedback place_feedback_; 00091 00092 boost::scoped_ptr<moveit_msgs::AttachedCollisionObject> diff_attached_object_; 00093 00094 MoveGroupState pickup_state_; 00095 MoveGroupState place_state_; 00096 00097 ros::ServiceClient grasp_planning_service_; 00098 00099 }; 00100 00101 } 00102 00103 #endif