pick_place_demo.cpp

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/* Author: Henning Kayser, Simon Goldstein
   Desc:   A demo to show MoveIt Task Constructor in action
*/
 
// ROS
#include <ros/ros.h>
 
// MTC pick/place demo implementation
#include <moveit_task_constructor_demo/pick_place_task.h>
 
constexpr char LOGNAME[] = "moveit_task_constructor_demo";
 
int main(int argc, char** argv) {
        ros::init(argc, argv, "mtc_tutorial");
        ros::NodeHandle nh, pnh("~");
 
        // Handle Task introspection requests from RViz & feedback during execution
        ros::AsyncSpinner spinner(1);
        spinner.start();
 
        moveit_task_constructor_demo::setupDemoScene(pnh);
 
        // Construct and run pick/place task
        moveit_task_constructor_demo::PickPlaceTask pick_place_task("pick_place_task", pnh);
        if (!pick_place_task.init()) {
                ROS_INFO_NAMED(LOGNAME, "Initialization failed");
                return 1;
        }
 
        if (pick_place_task.plan()) {
                ROS_INFO_NAMED(LOGNAME, "Planning succeded");
                if (pnh.param("execute", false)) {
                        pick_place_task.execute();
                        ROS_INFO_NAMED(LOGNAME, "Execution complete");
                } else {
                        ROS_INFO_NAMED(LOGNAME, "Execution disabled");
                }
        } else {
                ROS_INFO_NAMED(LOGNAME, "Planning failed");
        }
 
        // Keep introspection alive
        ros::waitForShutdown();
        return 0;
}