moveit_task_constructor/demo/src/pick_place_demo.cpp
2021-05-28 00:44:27 +02:00

78 lines
2.9 KiB
C++

/*********************************************************************
* BSD 3-Clause License
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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;
}