def execute(self, userdata):
self._goal.planner_service_name = "ompl_planning/plan_kinematic_path"
motion_plan_request = MotionPlanRequest()
motion_plan_request.group_name = "SchunkArm"
motion_plan_request.num_planning_attempts = 1
motion_plan_request.allowed_planning_time = rospy.Duration(5.0)
motion_plan_request.planner_id = ""
self._goal.motion_plan_request = motion_plan_request
desired_pose = SimplePoseConstraint()
desired_pose.header.frame_id = userdata.parent_frame
desired_pose.link_name = "Gripper"
desired_pose.pose.position.x = userdata.x
desired_pose.pose.position.y = userdata.y
desired_pose.pose.position.z = userdata.z
quat = tf.transformations.quaternion_from_euler(-math.pi/2, math.pi/2, userdata.phi)
desired_pose.pose.orientation = Quaternion(*quat)
desired_pose.absolute_position_tolerance.x = 0.02
desired_pose.absolute_position_tolerance.y = 0.02
desired_pose.absolute_position_tolerance.z = 0.02
desired_pose.absolute_roll_tolerance = 0.04
desired_pose.absolute_pitch_tolerance = 0.04
desired_pose.absolute_yaw_tolerance = 0.04
add_goal_constraint_to_move_arm_goal(desired_pose, self._goal)
srv_out = SimpleActionState.execute(self, userdata)
return srv_out
def create_motion_plan_request_for_joints(joint_positions):
"""Setup motion plan request.
The length of parameter joint_positions must match the length of global variable JOINT_NAMES.
"""
motion_plan_request = MotionPlanRequest()
motion_plan_request.group_name = "SchunkArm"
motion_plan_request.num_planning_attempts = 1
motion_plan_request.allowed_planning_time = rospy.Duration(5.0)
motion_plan_request.planner_id = ""
motion_plan_request.goal_constraints.joint_constraints = [JointConstraint() for i in range(len(JOINT_NAMES))]
for i in range(len(JOINT_NAMES)):
motion_plan_request.goal_constraints.joint_constraints[i].joint_name = JOINT_NAMES[i]
motion_plan_request.goal_constraints.joint_constraints[i].position = joint_positions[i]
motion_plan_request.goal_constraints.joint_constraints[i].tolerance_above = 0.01
motion_plan_request.goal_constraints.joint_constraints[i].tolerance_below = 0.01
return motion_plan_request
def execute(self, userdata):
self._goal.planner_service_name = "ompl_planning/plan_kinematic_path"
motion_plan_request = MotionPlanRequest()
motion_plan_request.group_name = "SchunkArm"
motion_plan_request.num_planning_attempts = 1
motion_plan_request.allowed_planning_time = rospy.Duration(5.0)
motion_plan_request.planner_id = ""
self._goal.motion_plan_request = motion_plan_request
desired_pose = SimplePoseConstraint()
desired_pose.header.frame_id = userdata.parent_frame
desired_pose.link_name = "Gripper"
desired_pose.pose.position.x = userdata.x
desired_pose.pose.position.y = userdata.y
desired_pose.pose.position.z = userdata.z
quat = tf.transformations.quaternion_from_euler(
-math.pi / 2, math.pi / 2, userdata.phi)
desired_pose.pose.orientation = Quaternion(*quat)
desired_pose.absolute_position_tolerance.x = 0.02
desired_pose.absolute_position_tolerance.y = 0.02
desired_pose.absolute_position_tolerance.z = 0.02
desired_pose.absolute_roll_tolerance = 0.04
desired_pose.absolute_pitch_tolerance = 0.04
desired_pose.absolute_yaw_tolerance = 0.04
add_goal_constraint_to_move_arm_goal(desired_pose, self._goal)
srv_out = SimpleActionState.execute(self, userdata)
return srv_out
def create_motion_plan_request_for_joints(joint_positions):
"""Setup motion plan request.
The length of parameter joint_positions must match the length of global variable JOINT_NAMES.
"""
motion_plan_request = MotionPlanRequest()
motion_plan_request.group_name = "SchunkArm"
motion_plan_request.num_planning_attempts = 1
motion_plan_request.allowed_planning_time = rospy.Duration(5.0)
motion_plan_request.planner_id = ""
motion_plan_request.goal_constraints.joint_constraints = [
JointConstraint() for i in range(len(JOINT_NAMES))
]
for i in range(len(JOINT_NAMES)):
motion_plan_request.goal_constraints.joint_constraints[
i].joint_name = JOINT_NAMES[i]
motion_plan_request.goal_constraints.joint_constraints[
i].position = joint_positions[i]
motion_plan_request.goal_constraints.joint_constraints[
i].tolerance_above = 0.01
motion_plan_request.goal_constraints.joint_constraints[
i].tolerance_below = 0.01
return motion_plan_request
