pick_and_place_node.cpp File Reference

#include <ros/ros.h>
#include <std_msgs/String.h>
#include <std_srvs/Trigger.h>
#include <geometry_msgs/PointStamped.h>
#include <trajectory_msgs/JointTrajectory.h>
#include <std_msgs/Empty.h>
#include <tf/transform_listener.h>
#include <actionlib/client/simple_action_client.h>
#include <control_msgs/GripperCommandAction.h>
#include <moveit/move_group_interface/move_group_interface.h>
#include <moveit/kinematics_metrics/kinematics_metrics.h>
#include <moveit/planning_scene_interface/planning_scene_interface.h>
#include <std_srvs/SetBool.h>
#include <moveit_msgs/PickupAction.h>
#include <moveit_msgs/PlaceAction.h>
#include <std_msgs/Float64MultiArray.h>

Include dependency graph for pick_and_place_node.cpp:

Go to the source code of this file.

Classes
struct	Point_t

Macros
#define	MAX_BOARD_PLACE   0.05

Typedefs
typedef actionlib::SimpleActionClient< moveit_msgs::PickupAction >	PickClient
typedef actionlib::SimpleActionClient< moveit_msgs::PlaceAction >	PlaceClient

Functions
moveit_msgs::PickupGoal	BuildPickGoal (const std::string &objectName)
moveit_msgs::PlaceGoal	buildPlaceGoal (const std::string &objectName)
void	look_down ()
int	main (int argc, char **argv)
bool	pickAndPlaceCallBack (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
double	randBetweenTwoNum (int max, int min)
bool	set_collision_update (bool state)

Variables
bool	exec = false
moveit::planning_interface::MoveGroupInterface *	group_ptr
ros::Publisher	grp_pos_pub
Point_t	point
ros::Publisher	pub_controller_command
std::string	startPositionName
ros::ServiceClient *	uc_client_ptr

Macro Definition Documentation

#define MAX_BOARD_PLACE   0.05

Definition at line 18 of file pick_and_place_node.cpp.

Typedef Documentation

typedef actionlib::SimpleActionClient<moveit_msgs::PickupAction> PickClient

Definition at line 19 of file pick_and_place_node.cpp.

typedef actionlib::SimpleActionClient<moveit_msgs::PlaceAction> PlaceClient

Definition at line 20 of file pick_and_place_node.cpp.

Function Documentation

moveit_msgs::PickupGoal BuildPickGoal

(

const std::string &

objectName

)

Definition at line 158 of file pick_and_place_node.cpp.

moveit_msgs::PlaceGoal buildPlaceGoal

(

const std::string &

objectName

)

Definition at line 107 of file pick_and_place_node.cpp.

void look_down

(

)

Definition at line 209 of file pick_and_place_node.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 53 of file pick_and_place_node.cpp.

bool pickAndPlaceCallBack	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

Definition at line 248 of file pick_and_place_node.cpp.

double randBetweenTwoNum	(	int	max,
		int	min
	)

Definition at line 307 of file pick_and_place_node.cpp.

bool set_collision_update

(

bool

state

)

Definition at line 232 of file pick_and_place_node.cpp.

Variable Documentation

bool exec = false

Definition at line 44 of file pick_and_place_node.cpp.

moveit::planning_interface::MoveGroupInterface* group_ptr

Definition at line 50 of file pick_and_place_node.cpp.

ros::Publisher grp_pos_pub

Definition at line 47 of file pick_and_place_node.cpp.

Point_t point

Definition at line 48 of file pick_and_place_node.cpp.

ros::Publisher pub_controller_command

Definition at line 46 of file pick_and_place_node.cpp.

std::string startPositionName

Definition at line 49 of file pick_and_place_node.cpp.

ros::ServiceClient* uc_client_ptr

Definition at line 45 of file pick_and_place_node.cpp.