Esempi in C++ (Cpp) per IKTrajectoryExecutor

Esempio n. 1

File: ik_trajectory.cpp Progetto: saszaz/boeing-project

int main(int argc, char** argv){

  //init ROS node
  ros::init(argc, argv, "cartesian_ik_trajectory_executor");

  IKTrajectoryExecutor ik_traj_exec = IKTrajectoryExecutor();

  ROS_INFO("Waiting for cartesian trajectories to execute");
  ros::spin();
  
  return 0;
}

Esempio n. 2

File: ik_trajectory_tutorial.cpp Progetto: nttputus/wp6_manipulator

int main(int argc, char** argv){

  //init ROS node
  ros::init(argc, argv, "cartesian_ik_trajectory_executor");
  ros::NodeHandle rh;

  planning_environment::CollisionModels* collisionModels;
  planning_models::KinematicState* kinematicState;

  collisionModels = new planning_environment::CollisionModels("robot_description");
  kinematicState = new planning_models::KinematicState(collisionModels->getKinematicModel());

  ros::AsyncSpinner spinner(1); 
  spinner.start();

  ros::ServiceClient set_planning_scene_diff_client = rh.serviceClient<arm_navigation_msgs::SetPlanningSceneDiff>(SET_PLANNING_SCENE_DIFF_NAME);

  set_planning_scene_diff_client.waitForExistence();
  ROS_INFO("Planning scene service is now available");

  arm_navigation_msgs::SetPlanningSceneDiff::Request planning_scene_req;
  arm_navigation_msgs::SetPlanningSceneDiff::Response planning_scene_res;
  planning_environment::convertKinematicStateToRobotState(*kinematicState, ros::Time::now(), collisionModels->getWorldFrameId(), planning_scene_req.planning_scene_diff.robot_state);
  
  if(!set_planning_scene_diff_client.call(planning_scene_req, planning_scene_res)) {
    ROS_WARN("Can't get planning scene");
    return -1;
  }
  ROS_INFO("Successfully set planning scene");

  collisionModels->revertPlanningScene(kinematicState);
  collisionModels->setPlanningScene(planning_scene_res.planning_scene);

  IKTrajectoryExecutor ik_traj_exec = IKTrajectoryExecutor();

  ROS_INFO("Waiting for cartesian trajectories to execute");
  ros::spin();
  
  return 0;
}