예제 #1
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 def execute(self, userdata):
     goal_to_send = ObjectManipulationGoal()
     goal_to_send.operation = ObjectManipulationGoal.PICK
     goal_to_send.group = GROUP_NAME
     
     goal_to_send.target_pose = userdata.object_pick_position
     
     userdata.object_manipulation_goal = goal_to_send
     print "Data to Send to Pick Object final --> " + str(goal_to_send)
     return 'succeeded'        
예제 #2
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    def execute(self, userdata):
        goal_to_send = ObjectManipulationGoal()
        goal_to_send.operation = ObjectManipulationGoal.PLACE
        goal_to_send.group = GROUP_NAME

        goal_to_send.target_pose = userdata.object_place_position

        userdata.object_manipulation_goal = goal_to_send

        return 'succeeded'
예제 #3
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 def execute(self, userdata):
     goal_to_send = ObjectManipulationGoal()
     goal_to_send.operation = ObjectManipulationGoal.PLACE
     goal_to_send.group = GROUP_NAME
     
     goal_to_send.target_pose = userdata.object_place_position
     
     userdata.object_manipulation_goal = goal_to_send
     
     return 'succeeded'        
예제 #4
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from moveit_msgs.msg import MoveItErrorCodes
from geometry_msgs.msg import PoseStamped, Pose, Point, Quaternion
from std_msgs.msg import Header

OBJECT_MANIP_AS = '/object_manipulation_server'

if __name__ == '__main__':
    rospy.init_node("send_pick_and_place_")
    rospy.loginfo("Connecting to reem_tabletop_grasping AS: '" +
                  OBJECT_MANIP_AS + "'")
    manip_as = actionlib.SimpleActionClient(OBJECT_MANIP_AS,
                                            ObjectManipulationAction)
    manip_as.wait_for_server()
    rospy.loginfo("Succesfully connected.")

    goal = ObjectManipulationGoal()
    goal.group = "right_arm_torso"
    goal.operation = ObjectManipulationGoal.PICK
    p = Pose(position=Point(0.3, -0.3, 1.1),
             orientation=Quaternion(0.0, 0.0, 0.0, 1.0))
    target = PoseStamped(header=Header(frame_id="base_link"), pose=p)
    goal.target_pose = target

    rospy.loginfo("Sending pick goal:\n" + str(goal))
    manip_as.send_goal(goal)
    manip_as.wait_for_result()
    result = manip_as.get_result()
    rospy.loginfo("Got result:\n" + str(result))
    if not result.error_code.val == MoveItErrorCodes.SUCCESS:
        rospy.logerr("Not executing place as pick failed")
        exit()
예제 #5
0
#
# author: Sammy Pfeiffer

import rospy
import actionlib
from reem_tabletop_grasping.msg import ObjectManipulationAction, ObjectManipulationGoal
from geometry_msgs.msg import PoseStamped, Pose, Point, Quaternion
from std_msgs.msg import Header

OBJECT_MANIP_AS = '/object_manipulation_server'

if __name__ == '__main__':
    rospy.init_node("send_place_")
    rospy.loginfo("Connecting to reem_tabletop_grasping AS: '" + OBJECT_MANIP_AS + "'")
    manip_as = actionlib.SimpleActionClient(OBJECT_MANIP_AS, ObjectManipulationAction)
    manip_as.wait_for_server()
    rospy.loginfo("Succesfully connected.")

    goal = ObjectManipulationGoal()
    goal.group = "right_arm_torso"
    goal.operation = ObjectManipulationGoal.PLACE
    p = Pose(position=Point(0.3, -0.3, 1.1), orientation=Quaternion(0.0, 0.0, 0.0, 1.0))
    target = PoseStamped(header=Header(frame_id="base_link"), pose=p)
    goal.target_pose = target

    rospy.loginfo("Sending goal:\n" + str(goal))
    manip_as.send_goal(goal)
    manip_as.wait_for_result()
    result = manip_as.get_result()
    rospy.loginfo("Got result:\n" + str(result))