demo_scene.cpp
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34 
35 /* Author: Ioan Sucan */
36 
39 
40 static const std::string ROBOT_DESCRIPTION = "robot_description";
41 
42 void sendKnife()
43 {
44  ros::NodeHandle nh;
45  ros::Publisher pub_aco = nh.advertise<moveit_msgs::AttachedCollisionObject>("attached_collision_object", 10);
46 
47  moveit_msgs::AttachedCollisionObject aco;
48  aco.link_name = "r_wrist_roll_link";
49  aco.touch_links.push_back("r_wrist_roll_link");
50  aco.touch_links.push_back("r_gripper_palm_link");
51  aco.touch_links.push_back("r_gripper_led_frame");
52  aco.touch_links.push_back("r_gripper_motor_accelerometer_link");
53  aco.touch_links.push_back("r_gripper_tool_frame");
54  aco.touch_links.push_back("r_gripper_motor_slider_link");
55  aco.touch_links.push_back("r_gripper_motor_screw_link");
56  aco.touch_links.push_back("r_gripper_l_finger_link");
57  aco.touch_links.push_back("r_gripper_l_finger_tip_link");
58  aco.touch_links.push_back("r_gripper_r_finger_link");
59  aco.touch_links.push_back("r_gripper_r_finger_tip_link");
60  aco.touch_links.push_back("r_gripper_l_finger_tip_frame");
61 
62  moveit_msgs::CollisionObject& co = aco.object;
63  co.id = "knife";
64  co.header.stamp = ros::Time::now();
65  co.header.frame_id = aco.link_name;
66  co.operation = moveit_msgs::CollisionObject::ADD;
67  co.primitives.resize(1);
68  co.primitives[0].type = shape_msgs::SolidPrimitive::BOX;
69  co.primitives[0].dimensions.push_back(0.1);
70  co.primitives[0].dimensions.push_back(0.1);
71  co.primitives[0].dimensions.push_back(0.4);
72  co.primitive_poses.resize(1);
73  co.primitive_poses[0].position.x = 0.1;
74  co.primitive_poses[0].position.y = 0;
75  co.primitive_poses[0].position.z = -0.2;
76  co.primitive_poses[0].orientation.w = 1.0;
77 
78  pub_aco.publish(aco);
79  sleep(1);
80  pub_aco.publish(aco);
81  ROS_INFO("Object published.");
82  ros::Duration(1.5).sleep();
83 }
84 
85 int main(int argc, char** argv)
86 {
87  ros::init(argc, argv, "demo", ros::init_options::AnonymousName);
88 
90  spinner.start();
91 
92  sendKnife();
93 
95 
96  return 0;
97 }
void publish(const boost::shared_ptr< M > &message) const
bool sleep() const
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
void sendKnife()
Definition: demo_scene.cpp:42
int main(int argc, char **argv)
Definition: demo_scene.cpp:85
void spinner()
#define ROS_INFO(...)
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)
static const std::string ROBOT_DESCRIPTION
Definition: demo_scene.cpp:40
static Time now()
ROSCPP_DECL void waitForShutdown()


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Wed Apr 18 2018 02:49:32