pr2_plugs_common: joint_space

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00035 * Author: Wim Meeussen
00036 *********************************************************************/
00037 
00038 
00039 #include <string.h>
00040 #include <pr2_controllers_msgs/JointTrajectoryGoal.h>
00041 #include <pr2_controllers_msgs/JointTrajectoryAction.h>
00042 #include <actionlib/client/simple_action_client.h>
00043 
00044 namespace pr2_plugs_common{
00045 
00046 static bool gotoJointPosition(double q1, double q2,double q3,double q4,double q5,double q6,double q7, bool right_arm)
00047 {
00048   ROS_INFO("Waiting for joint trajectory action");
00049   std::string arm = "r";
00050   if (!right_arm) arm = "l";
00051 
00052   actionlib::SimpleActionClient<pr2_controllers_msgs::JointTrajectoryAction> trajectory_action(arm+"_arm_controller/joint_trajectory_action", true);
00053   trajectory_action.waitForServer();
00054   ROS_INFO("Moving %s arm to detection pose", arm.c_str());
00055 
00056   pr2_controllers_msgs::JointTrajectoryGoal trajectory_goal ;
00057   trajectory_goal.trajectory.joint_names.resize(7);
00058   trajectory_goal.trajectory.joint_names[0] = arm+"_upper_arm_roll_joint";
00059   trajectory_goal.trajectory.joint_names[1] = arm+"_shoulder_pan_joint";
00060   trajectory_goal.trajectory.joint_names[2] = arm+"_shoulder_lift_joint";
00061   trajectory_goal.trajectory.joint_names[3] = arm+"_forearm_roll_joint";
00062   trajectory_goal.trajectory.joint_names[4] = arm+"_elbow_flex_joint";
00063   trajectory_goal.trajectory.joint_names[5] = arm+"_wrist_flex_joint";
00064   trajectory_goal.trajectory.joint_names[6] = arm+"_wrist_roll_joint";
00065 
00066   
00067   // moves arm to given joint space position
00068   trajectory_goal.trajectory.header.stamp = ros::Time::now()+ros::Duration(0.2);
00069   trajectory_goal.trajectory.points.resize(1);
00070   trajectory_goal.trajectory.points[0].positions.resize(7);
00071   trajectory_goal.trajectory.points[0].positions[0] = q1;
00072   trajectory_goal.trajectory.points[0].positions[1] = q2;
00073   trajectory_goal.trajectory.points[0].positions[2] = q3;
00074   trajectory_goal.trajectory.points[0].positions[3] = q4;
00075   trajectory_goal.trajectory.points[0].positions[4] = q5;
00076   trajectory_goal.trajectory.points[0].positions[5] = q6;
00077   trajectory_goal.trajectory.points[0].positions[6] = q7;
00078   trajectory_goal.trajectory.points[0].time_from_start = ros::Duration(4.0);
00079   if (trajectory_action.sendGoalAndWait(trajectory_goal,ros::Duration(20.0), ros::Duration(5.0)) != actionlib::SimpleClientGoalState::SUCCEEDED){
00080     ROS_ERROR("Failed to reach joint space detection position");
00081     return false;
00082   }
00083   return true;
00084 }
00085 
00086 }