pr2_interactive_manipulation: pr2_interactive_manipulation: interactive_marker

00001 /*
00002  * Copyright (c) 2009, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #include "pr2_interactive_manipulation/interactive_marker_node.h"
00031 
00032 #include <visualization_msgs/InteractiveMarker.h>
00033 #include <visualization_msgs/InteractiveMarkerFeedback.h>
00034 
00035 using namespace visualization_msgs;
00036 using namespace interactive_markers;
00037 
00038 namespace pr2_interactive_manipulation
00039 {
00040 
00041 typedef actionlib::SimpleActionClient<pr2_object_manipulation_msgs::IMGUIAction> IMGUIActionClient;
00042 
00043 InteractiveMarkerNode::InteractiveMarkerNode() :
00044   root_nh_(""),
00045   priv_nh_("~"),
00046   im_gui_action_client_("imgui_action", true),
00047   marker_server_("interactive_manipulation")
00048 {
00049   graspable_objects_sub_ = root_nh_.subscribe("interactive_object_recognition_result", 10,
00050     &InteractiveMarkerNode::processGraspableObjects, this);
00051 
00052   options_.collision_checked = true;
00053   options_.grasp_selection = 1;
00054 
00055   options_.adv_options.lift_steps = 10;
00056   options_.adv_options.retreat_steps = 10;
00057   options_.adv_options.reactive_force = false;
00058   options_.adv_options.reactive_grasping = false;
00059   options_.adv_options.reactive_place = false;
00060   options_.adv_options.lift_direction_choice = 0;
00061 
00062   dyn_conf_srv_.setCallback( boost::bind(&InteractiveMarkerNode::processConfig, this, _1, _2) );
00063   collision_map_interface_.resetCollisionId(1000);
00064 
00065 }
00066 
00067 InteractiveMarkerNode::~InteractiveMarkerNode()
00068 {
00069 }
00070 
00071 void InteractiveMarkerNode::processConfig(PickupConfig &config, uint32_t level)
00072 {
00073   options_.adv_options.reactive_grasping = config.reactive_grasping;
00074   options_.adv_options.lift_steps = config.lift_steps;
00075   if (config.lift_vertically) options_.adv_options.lift_direction_choice = 0;
00076   else options_.adv_options.lift_direction_choice = 1;
00077 }
00078 
00079 void InteractiveMarkerNode::processGraspableObjects(
00080                                           const pr2_interactive_object_detection::GraspableObjectListConstPtr &objects)
00081 {
00082   object_handlers_.clear();
00083 
00084   if ( objects->meshes.size() != objects->graspable_objects.size() )
00085   {
00086     ROS_ERROR( "Number of meshes an graspable objects is not identical!" );
00087     return;
00088   }
00089 
00090   for ( unsigned o=0; o<objects->meshes.size() && o<objects->graspable_objects.size(); o++ )
00091   {
00092     char name[255];
00093     sprintf( name, "object_%d", o );
00094 
00095     object_handlers_.push_back( boost::shared_ptr<GraspableObjectHandler>( new GraspableObjectHandler( name, this, objects->graspable_objects[o], objects->meshes[o], marker_server_, options_, &collision_map_interface_ ) ) );
00096   }
00097   marker_server_.applyChanges();
00098 }
00099 
00100 std::vector<object_manipulation_msgs::GraspableObject> InteractiveMarkerNode::getMovableObstacles()
00101 {
00102   std::vector<object_manipulation_msgs::GraspableObject> movable_obstacles;
00103   for (size_t i=0; i<object_handlers_.size(); i++)
00104   {
00105     if (!object_handlers_[i]->getCollisionName().empty())
00106     {
00107       movable_obstacles.push_back(object_handlers_[i]->getGraspableObject());
00108     }    
00109   }
00110   return movable_obstacles;
00111 }
00112 
00113 }
00114 
00115 
00116 int main(int argc, char **argv)
00117 {
00118   ros::init(argc, argv, "interactive_manipulation_marker_node");
00119   pr2_interactive_manipulation::InteractiveMarkerNode node;
00120   ros::spin();
00121   return 0;
00122 }
00123
interactive_marker_node.cpp
