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Matteo Anedda
multi_cell_builder
Commits
ae7d737f
Commit
ae7d737f
authored
2 years ago
by
KingMaZito
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first integration step
parent
04d97a0d
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2 changed files
launch/config_routine.launch
+83
-31
83 additions, 31 deletions
launch/config_routine.launch
src/config_routine.cpp
+17
-16
17 additions, 16 deletions
src/config_routine.cpp
with
100 additions
and
47 deletions
launch/config_routine.launch
+
83
−
31
View file @
ae7d737f
<launch>
<arg name="result" default="dummy/-277257222.yaml" />
<launch>
<arg name="jobs" default="jobs/dummy.yaml" />
<!-- specify the planning pipeline -->
<arg name="pipeline" default="ompl" />
<!--<include file="$(find panda_moveit_config)/launch/demo.launch"></include> -->
<!-- By default, we do not start a database (it can be large) -->
<!-- this is to change-->
<arg name="db" default="false" />
<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
<!-- Allow user to specify database location -->
<rosparam command="load" file="$(find multi_cell_builder)/mtc_templates/dummy.yaml" />
<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db" />
<rosparam command="load" file="$(find multi_cell_builder)/maps/dummy.yaml"/>
<rosparam command="load" file="$(find multi_cell_builder)/descriptions/dummy2.yaml"/>
<!-- By default, we are not in debug mode -->
<rosparam command="load" file="$(find multi_cell_builder)/$(arg jobs)"/>
<arg name="debug" default="false" />
<rosparam ns="planning_pipelines" param="pipeline_names">["ompl"]</rosparam>
<!-- By default, we will load or override the robot_description -->
<arg name="load_robot_description" default="true"/>
<include file="$(find ceti_double)/launch/demo.launch">
<arg name="use_rviz" value="false"/>
<!-- Choose controller manager: fake, simple, or ros_control -->
<arg name="scene" value="$(arg result)" />
<arg name="moveit_controller_manager" default="fake" />
</include>
<!-- Set execution mode for fake execution controllers -->
<arg name="fake_execution_type" default="interpolate" />
<include ns="cell_routine" file="$(find ceti_double)/launch/fake_moveit_controller_manager.launch.xml" />
<param name="move_group/capabilities" value="move_group/ExecuteTaskSolutionCapability" />
<!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
<arg name="use_gui" default="false" />
<include file="$(find ceti_double)/launch/moveit_rviz.launch">
<arg name="use_rviz" default="true" />
<arg name="rviz_config" value="$(find multi_cell_builder)/launch/rviz/cell_routine.rviz" />
</include>
<!-- If needed, broadcast static tf for robot root -->
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0" />
<node pkg="multi_cell_builder" type="config_routine" name="config_routine" output="screen" required="true">
<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
<!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
</node>
</launch>
<!-- If desired, a GUI version is available allowing to move the simulated robot around manually
This corresponds to moving around the real robot without the use of MoveIt. -->
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
</group>
<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(find panda_moveit_config)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
<!-- Load Rviz -->
<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false"
args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
</node>
<!-- Start the demo -->
<node name="config_routine" pkg="multi_cell_builder"
type="config_routine" output="screen">
<param name="gripper" value="two_finger"/>
<param name="ee_group_name" value="hand"/>
<param name="planning_group_name" value="panda_arm_hand"/>
<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
<rosparam command="load" file="$(find gb_grasp)/config/grasp_map_config.yaml"/>
</node>
<!-- Planning Functionality -->
<arg name="planner" default="ompl" />
<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
<arg name="pipeline" value="$(arg planner)" />
</include>
</launch>
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src/config_routine.cpp
+
17
−
16
View file @
ae7d737f
#include
"mediator/abstract_mediator.h"
#include
"mediator/abstract_mediator.h"
#include
"mediator/grasp_mediator.h"
#include
"mediator/grasp_mediator.h"
#include
"robot/decorators/panda_decorator.h"
#include
"robot/decorators/panda_decorator.h"
#include
<gb_grasp/GraspPipelineDemo.h>
int
main
(
int
argc
,
char
**
argv
){
int
main
(
int
argc
,
char
*
argv
[])
{
ros
::
init
(
argc
,
argv
,
"config_routine"
);
ros
::
init
(
argc
,
argv
,
"config_routine"
);
std
::
shared_ptr
<
ros
::
NodeHandle
>
n
(
new
ros
::
NodeHandle
);
ros
::
AsyncSpinner
spinner
(
1
);
// Allow the action server to recieve and send ros messages
ros
::
AsyncSpinner
spinner
(
2
);
spinner
.
start
();
spinner
.
start
();
std
::
shared_ptr
<
GraspMediator
>
mediator
=
std
::
make_shared
<
GraspMediator
>
(
n
);
auto
rd
=
mediator
->
robotReader
()
->
robotData
();
// Seed random
for
(
int
i
=
0
;
i
<
rd
.
size
()
;
i
++
){
srand
(
ros
::
Time
::
now
().
toSec
());
std
::
unique_ptr
<
AbstractRobot
>
ceti
=
std
::
make_unique
<
CetiRobot
>
(
rd
[
i
].
name_
,
rd
[
i
].
pose_
,
rd
[
i
].
size_
);
std
::
unique_ptr
<
PandaDecorator
>
ceti_panda
=
std
::
make_unique
<
PandaDecorator
>
(
std
::
move
(
ceti
));
// Run Tests
mediator
->
connectRobots
(
std
::
move
(
ceti_panda
));
moveit_grasps_demo
::
GraspPipelineDemo
tester
;
}
ros
::
Duration
(
2
).
sleep
();
tester
.
publishConfigScene
();
tester
.
generateGraspMap
();
tester
.
getVoxelizedEnv
();
tester
.
computeConfig
();
tester
.
build
();
//mediator->set_dirname(filename);
mediator
->
mediate
();
while
(
ros
::
ok
()){
return
0
;
ros
::
spinOnce
();
}
}
}
\ No newline at end of file
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