carl_interactive_manipulation.h File Reference

#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <boost/thread/recursive_mutex.hpp>
#include <rail_manipulation_msgs/ArmAction.h>
#include <rail_manipulation_msgs/PickupAction.h>
#include <carl_safety/Error.h>
#include <interactive_markers/interactive_marker_server.h>
#include <interactive_markers/menu_handler.h>
#include <rail_manipulation_msgs/GripperAction.h>
#include <rail_manipulation_msgs/LiftAction.h>
#include <rail_manipulation_msgs/SegmentedObjectList.h>
#include <rail_pick_and_place_msgs/RemoveObject.h>
#include <rail_segmentation/RemoveObject.h>
#include <wpi_jaco_msgs/CartesianCommand.h>
#include <wpi_jaco_msgs/EStop.h>
#include <wpi_jaco_msgs/GetAngularPosition.h>
#include <wpi_jaco_msgs/GetCartesianPosition.h>
#include <wpi_jaco_msgs/JacoFK.h>
#include <wpi_jaco_msgs/QuaternionToEuler.h>
#include <sensor_msgs/JointState.h>
#include <sensor_msgs/PointCloud.h>
#include <sensor_msgs/point_cloud_conversion.h>
#include <std_srvs/Empty.h>

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Classes
class	CarlInteractiveManipulation
Defines
#define	F1_THRESHOLD   1.5
#define	F2_THRESHOLD   1.5
#define	F3_THRESHOLD   1.5
#define	J1_THRESHOLD   7.0
	Allows for interactive control of the CARL's JACO arm for object manipulation.
#define	J2_THRESHOLD   25.5
#define	J3_THRESHOLD   14.0
#define	J4_THRESHOLD   5.0
#define	J5_THRESHOLD   5.0
#define	J6_THRESHOLD   3.5

---

Define Documentation

#define F1_THRESHOLD   1.5

Definition at line 48 of file carl_interactive_manipulation.h.

#define F2_THRESHOLD   1.5

Definition at line 49 of file carl_interactive_manipulation.h.

#define F3_THRESHOLD   1.5

Definition at line 50 of file carl_interactive_manipulation.h.

#define J1_THRESHOLD   7.0

Allows for interactive control of the CARL's JACO arm for object manipulation.

.h carl_interactive_manipulation creates a ROS node that displays interactive markers for the CARL's JACO arm and allows control of the end effector position, grasping, and pickup actions, as well as segmented and recognized object visualization through an interactive marker client.

Author:

David Kent, WPI - davidkent@wpi.edu

Date:

August 20, 2014

Definition at line 42 of file carl_interactive_manipulation.h.

#define J2_THRESHOLD   25.5

Definition at line 43 of file carl_interactive_manipulation.h.

#define J3_THRESHOLD   14.0

Definition at line 44 of file carl_interactive_manipulation.h.

#define J4_THRESHOLD   5.0

Definition at line 45 of file carl_interactive_manipulation.h.

#define J5_THRESHOLD   5.0

Definition at line 46 of file carl_interactive_manipulation.h.

#define J6_THRESHOLD   3.5

Definition at line 47 of file carl_interactive_manipulation.h.