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'
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'
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'
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()
#
# 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))
