/********************************************************************* * BSD 3-Clause License * * Copyright (c) 2019 PickNik LLC. * 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 the copyright holder 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 HOLDER 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, Simon Goldstein Desc: A demo to show MoveIt Task Constructor in action */ // ROS #include // MTC pick/place demo implementation #include 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; }