Create empty plan_pick_place_capability

This commit is contained in:
Henning Kayser 2019-11-20 16:43:52 +01:00
parent bf78d46715
commit 916d26db25
5 changed files with 155 additions and 0 deletions

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@ -8,6 +8,7 @@ find_package(catkin REQUIRED COMPONENTS
moveit_core
moveit_ros_move_group
moveit_task_constructor_msgs
moveit_task_constructor_core
pluginlib
std_msgs
)
@ -16,6 +17,7 @@ catkin_package(
LIBRARIES $PROJECT_NAME}
CATKIN_DEPENDS
moveit_task_constructor_msgs
moveit_task_constructor_core
std_msgs
)
@ -25,6 +27,7 @@ include_directories(
add_library(${PROJECT_NAME}
src/execute_task_solution_capability.cpp
src/plan_pick_place_capability.cpp
)
add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})

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@ -4,4 +4,10 @@
Action server to execute solutions generated through the MoveIt Task Constructor.
</description>
</class>
<class name="move_group/PlanPickPlaceCapability" type="move_group::PlanPickPlaceCapability" base_class_type="move_group::MoveGroupCapability">
<description>
Action server to plan full pick and place motions using the MoveIt Task Constructor.
</description>
</class>
</library>

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@ -18,6 +18,7 @@
<depend>pluginlib</depend>
<depend>std_msgs</depend>
<depend>moveit_task_constructor_msgs</depend>
<depend>moveit_task_constructor_core</depend>
<export>
<moveit_ros_move_group plugin="${prefix}/capabilities_plugin_description.xml"/>

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@ -0,0 +1,74 @@
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2016, Kentaro Wada.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Henning Kayser */
#include "plan_pick_place_capability.h"
#include <moveit/move_group/capability_names.h>
#include <moveit/robot_state/conversions.h>
namespace move_group {
PlanPickPlaceCapability::PlanPickPlaceCapability() : MoveGroupCapability("PlanPickPlace") {}
void PlanPickPlaceCapability::initialize() {
// configure the action server
as_.reset(new actionlib::SimpleActionServer<moveit_task_constructor_msgs::PlanPickPlaceAction>(
root_node_handle_, "plan_pick_place",
std::bind(&PlanPickPlaceCapability::goalCallback, this, std::placeholders::_1), false));
as_->registerPreemptCallback(std::bind(&PlanPickPlaceCapability::preemptCallback, this));
as_->start();
ros::NodeHandle nh("~");
pick_place_task_ = std::make_unique<PickPlaceTask>("", nh);
}
void PlanPickPlaceCapability::goalCallback(
const moveit_task_constructor_msgs::PlanPickPlaceGoalConstPtr& goal) {
moveit_task_constructor_msgs::PlanPickPlaceResult result;
// initialize task
// run plan
// return result
}
void PlanPickPlaceCapability::preemptCallback() {
// TODO(henningkayser): abort planning
}
} // namespace move_group
#include <class_loader/class_loader.hpp>
CLASS_LOADER_REGISTER_CLASS(move_group::PlanPickPlaceCapability, move_group::MoveGroupCapability)

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@ -0,0 +1,71 @@
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2018, Hamburg University.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Hamburg University nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/*
* Capability to plan pick and place motions using the MoveIt Task Constructor.
*
* Author: Henning Kayser
* */
#pragma once
#include <moveit/move_group/move_group_capability.h>
#include <actionlib/server/simple_action_server.h>
#include <moveit_task_constructor_msgs/PlanPickPlaceAction.h>
#include <moveit/task_constructor/tasks/pick_place_task.h>
#include <memory>
namespace move_group {
using moveit::task_constructor::tasks::PickPlaceTask;
class PlanPickPlaceCapability : public MoveGroupCapability
{
public:
PlanPickPlaceCapability();
virtual void initialize();
private:
void goalCallback(const moveit_task_constructor_msgs::PlanPickPlaceGoalConstPtr& goal);
void preemptCallback();
std::unique_ptr<actionlib::SimpleActionServer<moveit_task_constructor_msgs::PlanPickPlaceAction>> as_;
std::unique_ptr<PickPlaceTask> pick_place_task_;
};
} // namespace move_group