15 #include <xmlrpcpp/XmlRpc.h>
21 #include <moveit_grasps/two_finger_grasp_generator.h>
22 #include <moveit_grasps/two_finger_grasp_data.h>
23 #include <moveit_grasps/two_finger_grasp_filter.h>
24 #include <moveit_grasps/grasp_planner.h>
30 int main(
int argc,
char **argv){
32 ros::init(argc, argv,
"base_routine");
33 std::shared_ptr<ros::NodeHandle> n(
new ros::NodeHandle);
35 XmlRpc::XmlRpcValue map, task, resources;
37 n->getParam(
"/data",map);
38 n->getParam(
"/objects",resources);
39 n->getParam(
"/task/groups",task);
42 n->getParam(
"/resource_name", filename);
44 if(std::filesystem::exists(ros::package::getPath(
"multi_cell_builder") +
"/results/" + filename)) std::filesystem::remove_all(ros::package::getPath(
"multi_cell_builder") +
"/results/" + filename);
45 std::filesystem::create_directory(ros::package::getPath(
"multi_cell_builder") +
"/results/" + filename);
51 std::vector<std::vector<pcl::PointXYZ>> results = map_loader->
base_calculation();
58 std::unique_ptr<Robot_reader> robot_reader(
new Robot_reader(n));
59 auto rd = robot_reader->robot_data();
60 for (
int i = 0; i < rd.size() ;i++) mediator->
connect_robots(
new Robot(rd[i].name_, rd[i].pose_, rd[i].size_));