pr2_move_group_interface_test.cpp

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/* Author: Ioan Sucan */

#include <move_group_interface/move_group.h>
#include <ros/ros.h>

int main(int argc, char **argv)
{
  ros::init(argc, argv, "rw_move_group_interface_test", ros::init_options::AnonymousName);

  ros::AsyncSpinner spinner(1);
  spinner.start();

  move_group_interface::MoveGroup group("arm");
//  move_group_interface::MoveGroup group2("left_arm");
/*
  std::vector<double> v0(7,0.0);
  group.setJointValueTarget(v0);

  group.move();
  sleep(1);
  return 0;
*/
/*
  std::vector<double> v;
  v.push_back(0.4455);
  v.push_back(-0.1734);
  v.push_back(1.2177);
  v.push_back(-0.18);
  v.push_back(-1.37);
  v.push_back(0);
  v.push_back(0);

  group.setJointValueTarget(v);

  group.move();

  sleep(3);

  //    std::vector<double> v;

  v.clear();
  v.push_back(-1.1);
  v.push_back(0.5);
  v.push_back(-0.373);
  v.push_back(0.126);
  v.push_back(-1.196);
  v.push_back(0);
  v.push_back(0);
*/


/*
// safe plan
  std::vector<double> v;

  v.push_back(0.27);
  v.push_back(-0.68);
  v.push_back(-0.89);
  v.push_back(-1.09);
  v.push_back(-0.87);
  v.push_back(0);
  v.push_back(0);

  group.setJointValueTarget(v);
  group.move();
  sleep(2);

  std::vector<double> q;
  q.push_back(0.47);
  q.push_back(0.94);
  q.push_back(-0.04);
  q.push_back(0.95);
  q.push_back(-1.67);
  q.push_back(0);
  q.push_back(0);

  group.setJointValueTarget(q);
  group.move();
  sleep(1);
*/


// evil plan
  std::vector<double> v;

  v.push_back(1.15);
  v.push_back(-0.105);
  v.push_back(0.38);
  v.push_back(0.055);
  v.push_back(-1.47);
  v.push_back(0);
  v.push_back(0);

  group.setJointValueTarget(v);
  group.move();
  sleep(2);

  std::vector<double> q;
  q.push_back(-0.69);
  q.push_back(0.52);
  q.push_back(1.09);
  q.push_back(0.8);
  q.push_back(0.23);
  q.push_back(0);
  q.push_back(0);

  group.setJointValueTarget(q);
  group.move();
  sleep(1);



  return 0;
}