attachCylinder.cpp

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/* \author: E. Gil Jones */

#include <ros/ros.h>

#include <arm_navigation_msgs/AttachedCollisionObject.h>
#include <arm_navigation_msgs/Shape.h>

int main(int argc, char** argv) {

  ros::init(argc, argv, "attachCylinder");

  ros::NodeHandle nh;

  ros::Publisher att_object_in_map_pub_;
  att_object_in_map_pub_  = nh.advertise<arm_navigation_msgs::AttachedCollisionObject>("attached_collision_object", 10);
  sleep(2);

  //add a cylinder into the collision space attached to the r_gripper_r_finger_tip_link
  arm_navigation_msgs::AttachedCollisionObject att_object;
  att_object.link_name = "r_gripper_r_finger_tip_link";

  att_object.object.id = "attached_pole";
  att_object.object.operation.operation = arm_navigation_msgs::CollisionObjectOperation::ADD;

  att_object.object.header.frame_id = "r_gripper_r_finger_tip_link";
  att_object.object.header.stamp = ros::Time::now();
  arm_navigation_msgs::Shape object;
  object.type = arm_navigation_msgs::Shape::CYLINDER;
  object.dimensions.resize(2);
  object.dimensions[0] = .02;
  object.dimensions[1] = 1.2;
  geometry_msgs::Pose pose;
  pose.position.x = 0.0;
  pose.position.y = 0.0;
  pose.position.z = 0.0;
  pose.orientation.x = 0;
  pose.orientation.y = 0;
  pose.orientation.z = 0;
  pose.orientation.w = 1;
  att_object.object.shapes.push_back(object);
  att_object.object.poses.push_back(pose);
  att_object.touch_links.push_back("r_gripper_palm_link");
  att_object.touch_links.push_back("r_gripper_r_finger_link");
  att_object.touch_links.push_back("r_gripper_l_finger_link");
  att_object.touch_links.push_back("r_gripper_l_finger_tip_link");

  att_object_in_map_pub_.publish(att_object);

  ROS_INFO("Should have published");

  ros::Duration(2.0).sleep();

  ros::shutdown();

}