pr2_arm_navigation_tutorials: attachCylinder.cpp Source File

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00036 
00037 /* \author: E. Gil Jones */
00038 
00039 #include <ros/ros.h>
00040 
00041 #include <mapping_msgs/AttachedCollisionObject.h>
00042 #include <geometric_shapes_msgs/Shape.h>
00043 
00044 int main(int argc, char** argv) {
00045 
00046   ros::init(argc, argv, "attachCylinder");
00047 
00048   ros::NodeHandle nh;
00049 
00050   ros::Publisher att_object_in_map_pub_;
00051   att_object_in_map_pub_  = nh.advertise<mapping_msgs::AttachedCollisionObject>("attached_collision_object", 10);
00052   sleep(2);
00053 
00054   //add a cylinder into the collision space attached to the r_gripper_r_finger_tip_link
00055   mapping_msgs::AttachedCollisionObject att_object;
00056   att_object.link_name = "r_gripper_r_finger_tip_link";
00057 
00058   att_object.object.id = "attached_pole";
00059   att_object.object.operation.operation = mapping_msgs::CollisionObjectOperation::ADD;
00060 
00061   att_object.object.header.frame_id = "r_gripper_r_finger_tip_link";
00062   att_object.object.header.stamp = ros::Time::now();
00063   geometric_shapes_msgs::Shape object;
00064   object.type = geometric_shapes_msgs::Shape::CYLINDER;
00065   object.dimensions.resize(2);
00066   object.dimensions[0] = .02;
00067   object.dimensions[1] = 1.2;
00068   geometry_msgs::Pose pose;
00069   pose.position.x = 0.0;
00070   pose.position.y = 0.0;
00071   pose.position.z = 0.0;
00072   pose.orientation.x = 0;
00073   pose.orientation.y = 0;
00074   pose.orientation.z = 0;
00075   pose.orientation.w = 1;
00076   att_object.object.shapes.push_back(object);
00077   att_object.object.poses.push_back(pose);
00078   att_object.touch_links.push_back("r_gripper_palm_link");
00079   att_object.touch_links.push_back("r_gripper_r_finger_link");
00080   att_object.touch_links.push_back("r_gripper_l_finger_link");
00081   att_object.touch_links.push_back("r_gripper_l_finger_tip_link");
00082 
00083   att_object_in_map_pub_.publish(att_object);
00084 
00085   ROS_INFO("Should have published");
00086 
00087   ros::Duration(2.0).sleep();
00088 
00089   ros::shutdown();
00090 
00091 }