00001 #include <ros/ros.h>
00002 #include <kinematics_msgs/GetKinematicSolverInfo.h>
00003 #include <kinematics_msgs/GetPositionIK.h>
00004
00005 int main(int argc, char **argv){
00006 ros::init (argc, argv, "get_ik");
00007 ros::NodeHandle rh;
00008
00009 ros::service::waitForService("rosie_right_arm_kinematics/get_ik_solver_info");
00010 ros::service::waitForService("rosie_right_arm_kinematics/get_ik");
00011
00012 ros::ServiceClient query_client = rh.serviceClient<kinematics_msgs::GetKinematicSolverInfo>("rosie_right_arm_kinematics/get_ik_solver_info");
00013 ros::ServiceClient ik_client = rh.serviceClient<kinematics_msgs::GetPositionIK>("rosie_right_arm_kinematics/get_ik");
00014
00015
00016 kinematics_msgs::GetKinematicSolverInfo::Request request;
00017 kinematics_msgs::GetKinematicSolverInfo::Response response;
00018
00019 if(query_client.call(request,response))
00020 {
00021 for(unsigned int i=0; i< response.kinematic_solver_info.joint_names.size(); i++)
00022 {
00023 ROS_DEBUG("Joint: %d %s",i,response.kinematic_solver_info.joint_names[i].c_str());
00024 }
00025 }
00026 else
00027 {
00028 ROS_ERROR("Could not call query service");
00029 ros::shutdown();
00030 exit(1);
00031 }
00032
00033 kinematics_msgs::GetPositionIK::Request gpik_req;
00034 kinematics_msgs::GetPositionIK::Response gpik_res;
00035 gpik_req.timeout = ros::Duration(5.0);
00036 gpik_req.ik_request.ik_link_name = "right_arm_hand_link";
00037
00038 gpik_req.ik_request.pose_stamped.header.frame_id = "calib_right_arm_base_link";
00039 gpik_req.ik_request.pose_stamped.pose.position.x = 0.078357;
00040 gpik_req.ik_request.pose_stamped.pose.position.y = 0.098053;
00041 gpik_req.ik_request.pose_stamped.pose.position.z = 1.07627;
00042
00043 gpik_req.ik_request.pose_stamped.pose.orientation.x = 0.167578;
00044 gpik_req.ik_request.pose_stamped.pose.orientation.y = 0.706558;
00045 gpik_req.ik_request.pose_stamped.pose.orientation.z = 0.679779;
00046 gpik_req.ik_request.pose_stamped.pose.orientation.w = 0.102928;
00047
00048
00049
00050 gpik_req.ik_request.pose_stamped.header.frame_id = "base_link";
00051 gpik_req.ik_request.pose_stamped.pose.position.x = 0.268555;
00052 gpik_req.ik_request.pose_stamped.pose.position.y = -0.982867;
00053 gpik_req.ik_request.pose_stamped.pose.position.z = 1.70482;
00054
00055 gpik_req.ik_request.pose_stamped.pose.orientation.x = 0.724440;
00056 gpik_req.ik_request.pose_stamped.pose.orientation.y = -0.213505;
00057 gpik_req.ik_request.pose_stamped.pose.orientation.z = -0.623758;
00058 gpik_req.ik_request.pose_stamped.pose.orientation.w = 0.201316;
00059
00060
00061
00062
00063
00064
00065
00066
00067
00068 gpik_req.ik_request.ik_seed_state.joint_state.position.resize(response.kinematic_solver_info.joint_names.size());
00069 gpik_req.ik_request.ik_seed_state.joint_state.name = response.kinematic_solver_info.joint_names;
00070 for(unsigned int i=0; i< response.kinematic_solver_info.joint_names.size(); i++)
00071 {
00072 gpik_req.ik_request.ik_seed_state.joint_state.position[i] = (response.kinematic_solver_info.limits[i].min_position + response.kinematic_solver_info.limits[i].max_position)/2.0;
00073
00074 printf("Joint %d: %f\n", i, gpik_req.ik_request.ik_seed_state.joint_state.position[i]);
00075 }
00076 if(ik_client.call(gpik_req, gpik_res))
00077 {
00078 if(gpik_res.error_code.val == gpik_res.error_code.SUCCESS)
00079 for(unsigned int i=0; i < gpik_res.solution.joint_state.name.size(); i ++)
00080 ROS_INFO("Joint: %s %f",gpik_res.solution.joint_state.name[i].c_str(),gpik_res.solution.joint_state.position[i]);
00081 else
00082 ROS_ERROR("Inverse kinematics failed");
00083 }
00084 else
00085 ROS_ERROR("Inverse kinematics service call failed");
00086 ros::shutdown();
00087 }
00088
