00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2011, Robert Bosch LLC. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of the Robert Bosch nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 *********************************************************************/ 00036 #ifndef KINEMATIC_MANAGER_H_ 00037 #define KINEMATIC_MANAGER_H_ 00038 00039 #include <ros/ros.h> 00040 #include <vector> 00041 #include <string> 00042 #include <kinematics_msgs/GetKinematicSolverInfo.h> 00043 #include <kinematics_msgs/GetPositionIK.h> 00044 #include <kinematics_msgs/GetPositionFK.h> 00045 #include <wviz_kinematic_manager/getPose.h> 00046 #include <wviz_kinematic_manager/releasePose.h> 00047 00048 namespace wviz_kinematic_manager { 00049 00053 class KinematicService { 00054 public: 00055 KinematicService(ros::NodeHandle& node); 00056 ~KinematicService(); 00057 00062 bool KinematicHandler(wviz_kinematic_manager::getPose::Request& req, wviz_kinematic_manager::getPose::Response& resp); 00063 00068 bool KinematicRelease(wviz_kinematic_manager::releasePose::Request& req, wviz_kinematic_manager::releasePose::Response& resp); 00069 00073 kinematics_msgs::GetPositionIK::Response getIKSol(std::string target,std::string target_header_link,geometry_msgs::Pose& target_pose); 00074 00078 kinematics_msgs::GetPositionFK::Response getFKSol(std::vector<std::string> target_links,sensor_msgs::JointState joint_state); 00079 00083 void moveArm(sensor_msgs::JointState joint_state); 00084 void spin(); 00085 00086 00087 private: 00088 ros::NodeHandle node; 00089 ros::ServiceServer getpose_srv; 00090 ros::ServiceServer releasepose_srv; 00091 00092 ros::ServiceClient r_query_client; 00093 ros::ServiceClient r_ik_client; 00094 ros::ServiceClient r_fk_client; 00095 kinematics_msgs::KinematicSolverInfo r_solver_info; 00096 00097 ros::ServiceClient l_query_client; 00098 ros::ServiceClient l_ik_client; 00099 ros::ServiceClient l_fk_client; 00100 kinematics_msgs::KinematicSolverInfo l_solver_info; 00101 00102 ros::Publisher pub_right; 00103 ros::Publisher pub_left; 00104 00105 kinematics_msgs::GetPositionIK::Response lastIKSol; 00106 kinematics_msgs::GetPositionFK::Response lastFKSol; 00107 sensor_msgs::JointState lastSol; 00108 bool publishReady; 00109 }; 00110 } 00111 00112 #endif // KINEMATIC_MANAGER_H_