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("pr2_right_arm_kinematics/get_ik_solver_info"); 00010 ros::service::waitForService("pr2_right_arm_kinematics/get_ik"); 00011 00012 ros::ServiceClient query_client = rh.serviceClient<kinematics_msgs::GetKinematicSolverInfo>("pr2_right_arm_kinematics/get_ik_solver_info"); 00013 ros::ServiceClient ik_client = rh.serviceClient<kinematics_msgs::GetPositionIK>("pr2_right_arm_kinematics/get_ik"); 00014 00015 // define the service messages 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 // define the service messages 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 = "r_wrist_roll_link"; 00037 00038 gpik_req.ik_request.pose_stamped.header.frame_id = "torso_lift_link"; 00039 gpik_req.ik_request.pose_stamped.pose.position.x = 0.75; 00040 gpik_req.ik_request.pose_stamped.pose.position.y = -0.188; 00041 gpik_req.ik_request.pose_stamped.pose.position.z = 0.0; 00042 00043 gpik_req.ik_request.pose_stamped.pose.orientation.x = 0.0; 00044 gpik_req.ik_request.pose_stamped.pose.orientation.y = 0.0; 00045 gpik_req.ik_request.pose_stamped.pose.orientation.z = 0.0; 00046 gpik_req.ik_request.pose_stamped.pose.orientation.w = 1.0; 00047 gpik_req.ik_request.ik_seed_state.joint_state.position.resize(response.kinematic_solver_info.joint_names.size()); 00048 gpik_req.ik_request.ik_seed_state.joint_state.name = response.kinematic_solver_info.joint_names; 00049 for(unsigned int i=0; i< response.kinematic_solver_info.joint_names.size(); i++) 00050 { 00051 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; 00052 } 00053 if(ik_client.call(gpik_req, gpik_res)) 00054 { 00055 if(gpik_res.error_code.val == gpik_res.error_code.SUCCESS) 00056 for(unsigned int i=0; i < gpik_res.solution.joint_state.name.size(); i ++) 00057 ROS_INFO("Joint: %s %f",gpik_res.solution.joint_state.name[i].c_str(),gpik_res.solution.joint_state.position[i]); 00058 else 00059 ROS_ERROR("Inverse kinematics failed"); 00060 } 00061 else 00062 ROS_ERROR("Inverse kinematics service call failed"); 00063 ros::shutdown(); 00064 }