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demo ur5: spawn object in the beginning
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@ -8,13 +8,36 @@
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#include <ros/ros.h>
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#include <ros/ros.h>
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#include <moveit/planning_scene_interface/planning_scene_interface.h>
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using namespace moveit::task_constructor;
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using namespace moveit::task_constructor;
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void spawnObject(){
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moveit::planning_interface::PlanningSceneInterface psi;
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moveit_msgs::CollisionObject o;
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o.id= "object";
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o.header.frame_id= "table_top";
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o.primitive_poses.resize(1);
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o.primitive_poses[0].position.x= -0.2;
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o.primitive_poses[0].position.y= 0.13;
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o.primitive_poses[0].position.z= 0.12;
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o.primitive_poses[0].orientation.w= 1.0;
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o.primitives.resize(1);
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o.primitives[0].type= shape_msgs::SolidPrimitive::CYLINDER;
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o.primitives[0].dimensions.resize(2);
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o.primitives[0].dimensions[0]= 0.23;
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o.primitives[0].dimensions[1]= 0.03;
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psi.applyCollisionObject(o);
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}
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int main(int argc, char** argv){
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int main(int argc, char** argv){
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ros::init(argc, argv, "plan_pick");
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ros::init(argc, argv, "plan_pick");
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ros::AsyncSpinner spinner(1);
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ros::AsyncSpinner spinner(1);
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spinner.start();
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spinner.start();
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spawnObject();
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Task t;
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Task t;
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t.addStart( std::make_shared<subtasks::CurrentState>("current state") );
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t.addStart( std::make_shared<subtasks::CurrentState>("current state") );
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