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);
}
