GraspCollector.h
Go to the documentation of this file.
00001 
00013 #ifndef RAIL_PICK_AND_PLACE_GRASP_COLLECTOR_H_
00014 #define RAIL_PICK_AND_PLACE_GRASP_COLLECTOR_H_
00015 
00016 // ROS
00017 #include <actionlib/client/simple_action_client.h>
00018 #include <actionlib/server/simple_action_server.h>
00019 #include <geometry_msgs/Point32.h>
00020 #include <graspdb/graspdb.h>
00021 #include <rail_manipulation_msgs/GripperAction.h>
00022 #include <rail_manipulation_msgs/LiftAction.h>
00023 #include <rail_manipulation_msgs/SegmentedObjectList.h>
00024 #include <rail_manipulation_msgs/VerifyGraspAction.h>
00025 #include <rail_pick_and_place_msgs/GraspAndStoreAction.h>
00026 #include <ros/ros.h>
00027 #include <sensor_msgs/point_cloud_conversion.h>
00028 #include <tf2_ros/transform_listener.h>
00029 
00030 // Boost
00031 #include <boost/thread/mutex.hpp>
00032 
00033 namespace rail
00034 {
00035 namespace pick_and_place
00036 {
00037 
00045 class GraspCollector
00046 {
00047 public:
00049   static const bool DEFAULT_DEBUG = false;
00051   static const int AC_WAIT_TIME = 10;
00052 
00059   GraspCollector();
00060 
00066   virtual ~GraspCollector();
00067 
00075   bool okay() const;
00076 
00077 private:
00086   void graspAndStore(const rail_pick_and_place_msgs::GraspAndStoreGoalConstPtr &goal);
00087 
00095   void segmentedObjectsCallback(const rail_manipulation_msgs::SegmentedObjectList::Ptr &object_list);
00096 
00098   boost::mutex mutex_;
00099 
00101   bool debug_, okay_;
00103   std::string robot_fixed_frame_id_, eef_frame_id_;
00105   graspdb::Client *graspdb_;
00106 
00108   ros::NodeHandle node_, private_node_;
00110   ros::Publisher debug_pub_;
00112   ros::Subscriber segmented_objects_sub_;
00114   rail_manipulation_msgs::SegmentedObjectList::Ptr object_list_;
00116   actionlib::SimpleActionServer<rail_pick_and_place_msgs::GraspAndStoreAction> as_;
00118   actionlib::SimpleActionClient<rail_manipulation_msgs::GripperAction> *gripper_ac_;
00120   actionlib::SimpleActionClient<rail_manipulation_msgs::LiftAction> *lift_ac_;
00122   actionlib::SimpleActionClient<rail_manipulation_msgs::VerifyGraspAction> *verify_grasp_ac_;
00123 
00125   tf2_ros::Buffer tf_buffer_;
00127   tf2_ros::TransformListener tf_listener_;
00129   ros::Duration ac_wait_time_;
00130 };
00131 
00132 }
00133 }
00134 
00135 #endif


rail_grasp_collection
Author(s): Russell Toris , David Kent
autogenerated on Thu Jun 6 2019 19:44:05