grasp_cell_routine.cpp
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1 #include "impl/abstract_robot.h"
3 #include "impl/map_loader.h"
7 #include "impl/moveit_mediator.h"
10 #include "impl/wing.h"
11 #include "impl/moveit_robot.h"
12 #include "impl/collision_helper.h"
13 #include <xmlrpcpp/XmlRpc.h>
15 #include "reader/robot_reader.h"
16 #include "reader/wing_reader.h"
17 #include "reader/cuboid_reader.h"
18 
19 #include <moveit_grasps/two_finger_grasp_generator.h>
20 #include <moveit_grasps/two_finger_grasp_data.h>
21 #include <moveit_grasps/two_finger_grasp_filter.h>
22 #include <moveit_grasps/grasp_planner.h>
23 
24 
25 
26 int main(int argc, char **argv){
27  ros::init(argc, argv, "grasp_cell_routine");
28  std::shared_ptr<ros::NodeHandle> nnh = std::make_shared<ros::NodeHandle>();
29  ros::AsyncSpinner spinner(1);
30  spinner.start();
31 
32  XmlRpc::XmlRpcValue map, task;
33 
34  nnh->getParam("/data",map);
35  nnh->getParam("/task/groups",task);
36 
37 
38  Abstract_map_loader* map_loader = new Map_loader(map, task);
39 
40 
41  ros::Publisher* pub = new ros::Publisher(nnh->advertise< visualization_msgs::MarkerArray >("visualization_marker_array", 1)); //refractor
42  Abstract_mediator* mediator = new Moveit_grasp_mediator(map_loader->task_grasps(), pub, nnh);
43  Moveit_grasp_mediator* moveit_grasp_mediator = dynamic_cast<Moveit_grasp_mediator*>(mediator);
44 
45  moveit_grasp_mediator->mediate();
46 
47 
48  while (ros::ok()){
49  ros::spinOnce();
50  }
51 }
moveit_robot.h
abstract_robot_element.h
cuboid_reader.h
Abstract_mediator
Abstract mediator.
Definition: impl/abstract_mediator.h:33
Moveit_grasp_mediator::mediate
void mediate() override
Definition: moveit_grasp_mediator.cpp:141
abstract_map_loader.h
abstract_param_reader.h
Moveit_grasp_mediator
Definition: moveit_grasp_mediator.h:23
Abstract_map_loader::task_grasps
std::vector< std::vector< tf2::Transform > > & task_grasps()
Definition: abstract_map_loader.h:46
moveit_grasp_mediator.h
wing_moveit_decorator.h
abstract_mediator.h
map_loader.h
abstract_robot.h
Abstract_map_loader
Definition: abstract_map_loader.h:24
collision_helper.h
wing_reader.h
robot_reader.h
Map_loader
Definition: map_loader.h:10
moveit_mediator.h
main
int main(int argc, char **argv)
Definition: grasp_cell_routine.cpp:26
wing.h
abstract_robot_element_decorator.h


multi_cell_builder
Author(s): MA
autogenerated on Thu Jan 12 2023 23:45:43