Merge branch 'feature/plan-only' into 'master'

added plan only functionality

See merge request ceti/ros-internal/panda_grasping!6

include/grasp_util.h

@@ -76,7 +76,7 @@ public:
      */
     bool pickFromAbove(moveit::planning_interface::MoveGroupInterface &move_group, geometry_msgs::Pose &pick_pose,
                        geometry_msgs::Vector3 dimensions, double open_amount, std::string supporting_surface_id,
-                       std::string object_to_pick_id);
+                       std::string object_to_pick_id, bool plan_only = false);
 
     /**
      * Util method to place an object from above.
@@ -88,7 +88,7 @@ public:
      * @param object_to_place_id ID of the object to place
      */
     bool placeFromAbove(moveit::planning_interface::MoveGroupInterface &move_group, geometry_msgs::Pose &place_pose,
-                        double open_amount, std::string supporting_surface_id, std::string object_to_place_id);
+                        double open_amount, std::string supporting_surface_id, std::string object_to_place_id, bool plan_only = false);
 
 };
 

src/grasping/grasp_service.cpp

@@ -74,7 +74,7 @@ bool pickObject(panda_grasping::PickObject::Request &req,
 
         ROS_INFO("Picking up ...");
         // 0.08 = 8cm = maximum gripper opening
-        if (!grasp_util.pickFromAbove(group, pick_pose, req.dimensions, 0.08, "pick_support", "pick_object")) {
+        if (!grasp_util.pickFromAbove(group, pick_pose, req.dimensions, 0.08, "pick_support", "pick_object", req.plan_only)) {
             res.success = false;
             return false;
         }
@@ -121,7 +121,7 @@ placeObject(panda_grasping::PlaceObject::Request &req, panda_grasping::PlaceObje
         }
 
         ROS_INFO("Placing object.");
-        if (!grasp_util.placeFromAbove(group, req.pose, 0.08, "place_support", "pick_object")) {
+        if (!grasp_util.placeFromAbove(group, req.pose, 0.08, "place_support", "pick_object", req.plan_only)) {
             res.success = false;
             return false;
         }

src/grasping/grasp_util.cpp

@@ -75,7 +75,7 @@ GraspUtil::getPickFromAbovePose(geometry_msgs::Pose &object_pose_msg, geometry_m
 bool
 GraspUtil::pickFromAbove(moveit::planning_interface::MoveGroupInterface &move_group, geometry_msgs::Pose &pick_pose,
                          geometry_msgs::Vector3 dimensions,
-                         double open_amount, std::string supporting_surface_id, std::string object_to_pick_id) {
+                         double open_amount, std::string supporting_surface_id, std::string object_to_pick_id, bool plan_only) {
 
     std::vector<moveit_msgs::Grasp> grasps;
     grasps.resize(1);
@@ -112,7 +112,8 @@ GraspUtil::pickFromAbove(moveit::planning_interface::MoveGroupInterface &move_gr
     }
 
     move_group.setSupportSurfaceName(supporting_surface_id);
-    moveit_msgs::MoveItErrorCodes miec = move_group.pick(object_to_pick_id, grasps);
+
+    moveit_msgs::MoveItErrorCodes miec = move_group.pick(object_to_pick_id, grasps, plan_only);
 
     if (miec.val == miec.SUCCESS) {
         return true;
@@ -124,7 +125,7 @@ GraspUtil::pickFromAbove(moveit::planning_interface::MoveGroupInterface &move_gr
 
 bool
 GraspUtil::placeFromAbove(moveit::planning_interface::MoveGroupInterface &move_group, geometry_msgs::Pose &place_pose,
-                          double open_amount, std::string supporting_surface_id, std::string object_to_place_id) {
+                          double open_amount, std::string supporting_surface_id, std::string object_to_place_id, bool plan_only) {
 
     std::vector<moveit_msgs::PlaceLocation> place_location;
     place_location.resize(1);
@@ -147,7 +148,8 @@ GraspUtil::placeFromAbove(moveit::planning_interface::MoveGroupInterface &move_g
 
     setupOpenGripper(place_location[0].post_place_posture, open_amount);
     move_group.setSupportSurfaceName(supporting_surface_id);
-    moveit_msgs::MoveItErrorCodes miec = move_group.place(object_to_place_id, place_location);
+
+    moveit_msgs::MoveItErrorCodes miec = move_group.place(object_to_place_id, place_location, plan_only);
 
     if (miec.val == miec.SUCCESS) {
         return true;

srv/PickObject.srv

 geometry_msgs/Pose pose
 geometry_msgs/Vector3 dimensions
+bool plan_only
 ---
 bool success
\ No newline at end of file

srv/PlaceObject.srv

 geometry_msgs/Pose pose
 geometry_msgs/Vector3 dimensions
+bool plan_only
 ---
 bool success
\ No newline at end of file