int main(int argc, char **argv) { ros::init (argc, argv, "hsmakata_pick_n_place_demo"); ros::NodeHandle nh; ros::Publisher display_publisher = nh.advertise<moveit_msgs::DisplayTrajectory>("/move_group/display_planned_path", 1, true); ros::AsyncSpinner spinner(1); spinner.start(); pub_co = nh.advertise<moveit_msgs::CollisionObject>("collision_object", 10); pub_aco = nh.advertise<moveit_msgs::AttachedCollisionObject>("attached_collision_object", 10); grasps_marker = nh.advertise<visualization_msgs::MarkerArray>("grasps_marker", 10); sub_point = nh.subscribe<visualization_msgs::Marker>("cup_center",1,cb_points); moveit::planning_interface::MoveGroup gripper("gripper"); gripper.setNamedTarget("closed"); gripper.move(); moveit::planning_interface::MoveGroup katana("manipulator"); katana.setNamedTarget("home"); katana.move(); ros::spin(); }
void Shop::createItems() { /* WEAPONS */ Weapon shortSword("Short Sword", 65, 20); shortSword.setPrice(150); Weapon longSword("Long Sword", 70, 30); longSword.setPrice(300); Weapon katana("Katana", 90, 20); katana.setPrice(325); Weapon battleAxe("Battle Axe", 80, 40); battleAxe.setPrice(400); Weapon broadSword("Broad Sword", 80, 50); broadSword.setPrice(450); Weapon greatSword("Great Sword", 85, 60); greatSword.setPrice(600); Weapon laserGun("Laser Gun", 300, 300); laserGun.setPrice(2000); weapons.push_back(shortSword); weapons.push_back(longSword); weapons.push_back(katana); weapons.push_back(battleAxe); weapons.push_back(broadSword); weapons.push_back(greatSword); weapons.push_back(laserGun); /* ARMOR */ Armor winterCoat("Winter Coat", 15); winterCoat.setPrice(100); Armor scaleMail("Scale Mail", 25); scaleMail.setPrice(200); Armor sheild("Shield", 35); sheild.setPrice(350); Armor plateMail("Plate Mail", 50); plateMail.setPrice(450); Armor battalion("Battalion Armor", 75); battalion.setPrice(600); Armor kevlar("Kevlar", 300); kevlar.setPrice(2000); armor.push_back(winterCoat); armor.push_back(scaleMail); armor.push_back(sheild); armor.push_back(plateMail); armor.push_back(battalion); armor.push_back(kevlar); }