Functions | Variables
calvin_pick_n_place.cpp File Reference
#include <ros/ros.h>
#include <tf/tf.h>
#include <moveit/move_group_interface/move_group.h>
#include <geometry_msgs/PoseStamped.h>
#include <moveit_msgs/AttachedCollisionObject.h>
#include <moveit_msgs/CollisionObject.h>
#include <moveit_msgs/Grasp.h>
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>
#include <shape_tools/solid_primitive_dims.h>
Include dependency graph for calvin_pick_n_place.cpp:

Go to the source code of this file.

Functions

void add_attached_collision_object ()
void add_collision_object ()
std::vector< moveit_msgs::Grasp > generate_grasps (double x, double y, double z)
int main (int argc, char **argv)
bool place (moveit::planning_interface::MoveGroup &group)
void publish_grasps_as_markerarray (std::vector< moveit_msgs::Grasp > grasps)
void remove_attached_collision_object ()
void remove_collision_object ()
moveit_msgs::Grasp tf_transform_to_grasp (tf::Transform t)

Variables

moveit_msgs::AttachedCollisionObject aco
moveit_msgs::CollisionObject co
ros::Publisher grasps_marker
ros::Publisher pub_aco
ros::Publisher pub_co

Function Documentation

Definition at line 33 of file calvin_pick_n_place.cpp.

Definition at line 23 of file calvin_pick_n_place.cpp.

std::vector<moveit_msgs::Grasp> generate_grasps ( double  x,
double  y,
double  z 
)

x, y, z: center of grasp point (the point that should be between the finger tips of the gripper)

Definition at line 130 of file calvin_pick_n_place.cpp.

int main ( int  argc,
char **  argv 
)

Definition at line 244 of file calvin_pick_n_place.cpp.

Definition at line 198 of file calvin_pick_n_place.cpp.

void publish_grasps_as_markerarray ( std::vector< moveit_msgs::Grasp >  grasps)

Definition at line 102 of file calvin_pick_n_place.cpp.

Definition at line 38 of file calvin_pick_n_place.cpp.

Definition at line 28 of file calvin_pick_n_place.cpp.

moveit_msgs::Grasp tf_transform_to_grasp ( tf::Transform  t)

Definition at line 44 of file calvin_pick_n_place.cpp.


Variable Documentation

moveit_msgs::AttachedCollisionObject aco

Definition at line 21 of file calvin_pick_n_place.cpp.

moveit_msgs::CollisionObject co

Definition at line 20 of file calvin_pick_n_place.cpp.

Definition at line 18 of file calvin_pick_n_place.cpp.

Definition at line 17 of file calvin_pick_n_place.cpp.

Definition at line 16 of file calvin_pick_n_place.cpp.



calvin_pick_n_place
Author(s): Michael Görner
autogenerated on Thu Jun 6 2019 17:38:49