state_display_tutorial.cpp

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* Author: Acorn Pooley
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#include <ros/ros.h>

// MoveIt!
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/robot_state/joint_state_group.h>

// Robot state publishing
#include <moveit/robot_state/conversions.h>
#include <moveit_msgs/DisplayRobotState.h>

// PI
#include <boost/math/constants/constants.hpp>


// This code is described in the RobotStateDisplay tutorial here:
//    http://moveit.ros.org/wiki/index.php/Groovy/RobotStateDisplay/C%2B%2B_API


int main(int argc, char **argv)
{
  ros::init (argc, argv, "state_display_tutorial");

  /* Needed for ROS_INFO commands to work */
  ros::AsyncSpinner spinner(1);
  spinner.start();

  /* Load the robot model */
  robot_model_loader::RobotModelLoader robot_model_loader("robot_description");

  /* Get a shared pointer to the model */
  robot_model::RobotModelPtr kinematic_model = robot_model_loader.getModel();

  /* Create a kinematic state - this represents the configuration for the robot represented by kinematic_model */
  robot_state::RobotStatePtr kinematic_state(new robot_state::RobotState(kinematic_model));

  /* Get the configuration for the joints in the right arm of the PR2*/
  robot_state::JointStateGroup* joint_state_group = kinematic_state->getJointStateGroup("right_arm");



  /* PUBLISH RANDOM ARM POSITIONS */
  ros::NodeHandle nh;
  ros::Publisher robot_state_publisher = nh.advertise<moveit_msgs::DisplayRobotState>( "tutorial_robot_state", 1 );

  /* loop at 1 Hz */
  ros::Rate loop_rate(1);

  for (int cnt=0; cnt<5 && ros::ok(); cnt++)
  {
    joint_state_group->setToRandomValues();

    /* get a robot state message describing the pose in kinematic_state */
    moveit_msgs::DisplayRobotState msg;
    robot_state::robotStateToRobotStateMsg(*kinematic_state, msg.state);

    /* send the message to the RobotState display */
    robot_state_publisher.publish( msg );

    /* let ROS send the message, then wait a while */
    ros::spinOnce();
    loop_rate.sleep();
  }



  /* POSITION END EFFECTOR AT SPECIFIC LOCATIONS */

  /* Find the default pose for the end effector */
  kinematic_state->setToDefaultValues();

  const Eigen::Affine3d end_effector_default_pose =
      kinematic_state->getLinkState("r_wrist_roll_link")->getGlobalLinkTransform();

  const double PI = boost::math::constants::pi<double>();
  const double RADIUS = 0.1;

  for (double angle=0; angle<=2*PI && ros::ok(); angle+=2*PI/20)
  {

    /* calculate a position for the end effector */
    Eigen::Affine3d end_effector_pose =
      Eigen::Translation3d(RADIUS * cos(angle), RADIUS * sin(angle), 0.0) * end_effector_default_pose;

    ROS_INFO_STREAM("End effector position:\n" << end_effector_pose.translation());

    /* use IK to get joint angles satisfyuing the calculated position */
    bool found_ik = joint_state_group->setFromIK(end_effector_pose, 10, 0.1);
    if (!found_ik)
    {
      ROS_INFO_STREAM("Could not solve IK for pose\n" << end_effector_pose.translation());
      continue;
    }

    /* get a robot state message describing the pose in kinematic_state */
    moveit_msgs::DisplayRobotState msg;
    robot_state::robotStateToRobotStateMsg(*kinematic_state, msg.state);

    /* send the message to the RobotState display */
    robot_state_publisher.publish( msg );

    /* let ROS send the message, then wait a while */
    ros::spinOnce();
    loop_rate.sleep();
  }

  ros::shutdown();
  return 0;
}