jaco_manipulation.h
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00001 
00011 #ifndef JACO_MANIPULATION_H_
00012 #define JACO_MANIPULATION_H_
00013 
00014 #include <ros/ros.h>
00015 
00016 #include <actionlib/client/simple_action_client.h>
00017 #include <actionlib/server/simple_action_server.h>
00018 #include <control_msgs/GripperCommandAction.h>
00019 #include <rail_manipulation_msgs/GripperAction.h>
00020 #include <rail_manipulation_msgs/LiftAction.h>
00021 #include <std_srvs/Empty.h>
00022 #include <wpi_jaco_msgs/AngularCommand.h>
00023 #include <wpi_jaco_msgs/CartesianCommand.h>
00024 #include <wpi_jaco_msgs/GetCartesianPosition.h>
00025 #include <sensor_msgs/JointState.h>
00026 
00027 #define NUM_JACO_JOINTS 6
00028 
00029 #define MAX_FINGER_VEL 30 //maximum finger actuator velocity
00030 #define DEFAULT_LIFT_VEL .1 //the default velocity for lifting objects during pickup (m/s)
00031 #define LIFT_HEIGHT .15 //height for object pickup (m)
00032 #define LIFT_TIMEOUT 5 //timeout for pickup action (s)
00033 #define GRIPPER_OPEN_THRESHOLD .02 //gripper position where the fingers are considered "open"
00034 
00042 class JacoManipulation
00043 {
00044 public:
00045   typedef actionlib::SimpleActionClient<control_msgs::GripperCommandAction>     GripperClient;
00046   typedef actionlib::SimpleActionServer<rail_manipulation_msgs::GripperAction>  GripperServer;
00047   typedef actionlib::SimpleActionServer<rail_manipulation_msgs::LiftAction>     LiftServer;
00051   JacoManipulation();
00052 
00057   void execute_gripper(const rail_manipulation_msgs::GripperGoalConstPtr &goal);
00058 
00063   void execute_lift(const rail_manipulation_msgs::LiftGoalConstPtr &goal);
00064 
00069   void jointStateCallback(const sensor_msgs::JointState msg);
00070 
00071 private:
00072   bool loadParameters(const ros::NodeHandle n);
00073 
00074   ros::NodeHandle n, pnh;
00075 
00076   // Parameters
00077   std::string arm_name_;
00078   std::string topic_prefix_;
00079   double  gripper_closed_;
00080   double  gripper_open_;
00081   int     num_fingers_;
00082   int     num_joints_;
00083   bool    kinova_gripper_;
00084 
00085   // Messages
00086   ros::Publisher cartesianCmdPublisher;
00087   ros::Publisher angularCmdPublisher;
00088   ros::Subscriber jointStateSubscriber;
00089 
00090   // Services
00091   ros::ServiceClient cartesianPositionClient;
00092   ros::ServiceClient eraseTrajectoriesClient;
00093 
00094   // Actionlib
00095   GripperClient*  acGripper;
00096   GripperServer*  asGripper;
00097   LiftServer*     asLift;
00098 
00099   std::vector<double> joint_pos_;
00100 
00101 
00102 };
00103 
00104 #endif


wpi_jaco_wrapper
Author(s): David Kent
autogenerated on Thu Jun 6 2019 19:43:31