pick_place_task.h

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/* Author: Henning Kayser, Simon Goldstein
   Desc:   A demo to show MoveIt Task Constructor in action
*/
 
// ROS
#include <ros/ros.h>
 
// MoveIt
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/planning_scene_interface/planning_scene_interface.h>
 
// MTC
#include <moveit/task_constructor/task.h>
#include <moveit/task_constructor/stages/compute_ik.h>
#include <moveit/task_constructor/stages/connect.h>
#include <moveit/task_constructor/stages/current_state.h>
#include <moveit/task_constructor/stages/generate_grasp_pose.h>
#include <moveit/task_constructor/stages/generate_pose.h>
#include <moveit/task_constructor/stages/generate_place_pose.h>
#include <moveit/task_constructor/stages/modify_planning_scene.h>
#include <moveit/task_constructor/stages/move_relative.h>
#include <moveit/task_constructor/stages/move_to.h>
#include <moveit/task_constructor/stages/predicate_filter.h>
#include <moveit/task_constructor/solvers/cartesian_path.h>
#include <moveit/task_constructor/solvers/pipeline_planner.h>
#include <moveit_task_constructor_msgs/ExecuteTaskSolutionAction.h>
 
#pragma once
 
namespace moveit_task_constructor_demo {
using namespace moveit::task_constructor;
 
// prepare a demo environment from ROS parameters under pnh
void setupDemoScene(ros::NodeHandle& pnh);
 
class PickPlaceTask
{
public:
        PickPlaceTask(const std::string& task_name, const ros::NodeHandle& pnh);
        ~PickPlaceTask() = default;
 
        bool init();
 
        bool plan();
 
        bool execute();
 
private:
        void loadParameters();
 
        static constexpr char LOGNAME[]{ "pick_place_task" };
 
        ros::NodeHandle pnh_;
 
        std::string task_name_;
        moveit::task_constructor::TaskPtr task_;
 
        // planning group properties
        std::string arm_group_name_;
        std::string eef_name_;
        std::string hand_group_name_;
        std::string hand_frame_;
 
        // object + surface
        std::vector<std::string> support_surfaces_;
        std::string object_reference_frame_;
        std::string surface_link_;
        std::string object_name_;
        std::string world_frame_;
        std::vector<double> object_dimensions_;
 
        // Predefined pose targets
        std::string hand_open_pose_;
        std::string hand_close_pose_;
        std::string arm_home_pose_;
 
        // Pick metrics
        Eigen::Isometry3d grasp_frame_transform_;
        double approach_object_min_dist_;
        double approach_object_max_dist_;
        double lift_object_min_dist_;
        double lift_object_max_dist_;
 
        // Place metrics
        geometry_msgs::Pose place_pose_;
        double place_surface_offset_;
};
}  // namespace moveit_task_constructor_demo