grasp_planner_node.cpp
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00001 /*
00002  * Copyright 2015, Fetch Robotics Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Fetch Robotics, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 // Author: Michael Ferguson
00031 
00032 #include <ros/ros.h>
00033 #include <actionlib/server/simple_action_server.h>
00034 #include <simple_grasping/shape_grasp_planner.h>
00035 #include <grasping_msgs/GraspPlanningAction.h>
00036 
00037 class GraspPlannerNode
00038 {
00039   typedef actionlib::SimpleActionServer<grasping_msgs::GraspPlanningAction> server_t;
00040 
00041 public:
00042   GraspPlannerNode(ros::NodeHandle n)
00043   {
00044     // Planner
00045     planner_.reset(new simple_grasping::ShapeGraspPlanner(n));
00046 
00047     // Action for grasp planning
00048     server_.reset(new server_t(n, "plan",
00049                                boost::bind(&GraspPlannerNode::executeCallback, this, _1),
00050                                false));
00051     server_->start();
00052   }
00053 
00054 private:
00055   void executeCallback(const grasping_msgs::GraspPlanningGoalConstPtr& goal)
00056   {
00057     grasping_msgs::GraspPlanningResult result;
00058     planner_->plan(goal->object, result.grasps);
00059     server_->setSucceeded(result);
00060   }
00061 
00062   boost::shared_ptr<simple_grasping::ShapeGraspPlanner> planner_;
00063   boost::shared_ptr<server_t> server_;
00064 };
00065 
00066 int main(int argc, char* argv[])
00067 {
00068   ros::init(argc, argv, "grasp_planner");
00069   ros::NodeHandle nh("~");
00070   GraspPlannerNode planning(nh);
00071   ros::spin();
00072   return 0;
00073 }


simple_grasping
Author(s): Michael Ferguson
autogenerated on Fri Aug 26 2016 13:17:24