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Commit 3d654fe8 authored by Johannes Mey's avatar Johannes Mey
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move SafetyEnvironmentCreator to library and add header file

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CMakeLists.txt
+ 7
− 5
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...@@ -60,21 +60,23 @@ include_directories(${catkin_INCLUDE_DIRS} ${SDF_INCLUDE_DIRS}) ...@@ -60,21 +60,23 @@ include_directories(${catkin_INCLUDE_DIRS} ${SDF_INCLUDE_DIRS})
# add custom controller as library # add custom controller as library
add_library(${PROJECT_NAME}_controllers_lib src/joint_position_controller.cpp) add_library(${PROJECT_NAME}_controllers_lib src/joint_position_controller.cpp)
add_library(GazeboZoneSpawner src/GazeboZoneSpawner.cpp src/GazeboZoneSpawner.h) add_library(GazeboZoneSpawner src/SafetyZones/GazeboZoneSpawner.cpp src/SafetyZones/GazeboZoneSpawner.h)
add_library(SafetyEnvironmentCreator src/SafetyZones/SafetyEnvironmentCreator.cpp src/SafetyZones/SafetyEnvironmentCreator.h)
# Specify libraries to link a library or executable target against # Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}_controllers_lib ${catkin_LIBRARIES}) target_link_libraries(${PROJECT_NAME}_controllers_lib ${catkin_LIBRARIES})
#target_link_libraries(SafetyEnvironmentCreator ${catkin_LIBRARIES} ${Boost_LIBRARIES}) target_link_libraries(GazeboZoneSpawner ${catkin_LIBRARIES} ${SDF_LIBRARIES})
target_link_libraries(SafetyEnvironmentCreator ${catkin_LIBRARIES})
add_executable(robot_control_node src/robot_control_node.cpp) add_executable(robot_control_node src/robot_control_node.cpp)
add_executable(box_publisher_node src/box_publisher.cpp) add_executable(box_publisher_node src/box_publisher.cpp)
add_executable(robot_state_initializer_node src/robot_state_initializer.cpp) add_executable(robot_state_initializer_node src/robot_state_initializer.cpp)
add_executable(SafetyAwarePlanner src/SafetyAwarePlanner.cpp src/SafetyEnvironmentCreator.cpp) add_executable(SafetyAwarePlanner src/SafetyAwarePlanner.cpp)
target_link_libraries(GazeboZoneSpawner ${catkin_LIBRARIES} ${SDF_LIBRARIES})
target_link_libraries(robot_control_node ${catkin_LIBRARIES} boost_filesystem ${JSONCPP_LIBRARIES} ${SDF_LIBRARIES} GazeboZoneSpawner) target_link_libraries(robot_control_node ${catkin_LIBRARIES} boost_filesystem ${JSONCPP_LIBRARIES} ${SDF_LIBRARIES} GazeboZoneSpawner)
target_link_libraries(box_publisher_node ${catkin_LIBRARIES}) target_link_libraries(box_publisher_node ${catkin_LIBRARIES})
target_link_libraries(robot_state_initializer_node ${catkin_LIBRARIES}) target_link_libraries(robot_state_initializer_node ${catkin_LIBRARIES})
target_link_libraries(SafetyAwarePlanner ${catkin_LIBRARIES}) target_link_libraries(SafetyAwarePlanner ${catkin_LIBRARIES} SafetyEnvironmentCreator)
# target_link_libraries(constraint_planner ${catkin_LIBRARIES} ${Boost_LIBRARIES} SafetyEnvironmentCreator) # target_link_libraries(constraint_planner ${catkin_LIBRARIES} ${Boost_LIBRARIES} SafetyEnvironmentCreator)
src/SafetyAwarePlanner.cpp
+ 1
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...@@ -3,7 +3,7 @@ ...@@ -3,7 +3,7 @@
#include <moveit_msgs/CollisionObject.h> #include <moveit_msgs/CollisionObject.h>
#include <moveit_visual_tools/moveit_visual_tools.h> #include <moveit_visual_tools/moveit_visual_tools.h>
#include "SafetyEnvironmentCreator.cpp" #include "SafetyZones/SafetyEnvironmentCreator.cpp"
int main(int argc, char** argv) int main(int argc, char** argv)
{ {
......
src/SafetyEnvironmentCreator.cpp deleted 100644 → 0
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//
// Created by Sebastian Ebert
//
#include <moveit/move_group_interface/move_group_interface.h>
#include <moveit_msgs/CollisionObject.h>
#include <moveit_visual_tools/moveit_visual_tools.h>
class SafetyEnvironmentCreator {
private:
double safety_zone_width;
double safety_zone_height;
double safety_zone_depth;
double zone_orientation_w;
double zone_orientation_x;
double zone_orientation_y;
double zone_orientation_z;
double zone_position_x;
double zone_position_y;
double zone_position_z;
public:
/**
* ctor
* @param shape describes the inner dimensions of the safety zone
* @param pose describes position and orientation of the safety zone
* note: current zone-threshold is 0.1
*/
SafetyEnvironmentCreator(shape_msgs::SolidPrimitive shape, geometry_msgs::Pose pose) {
if(shape.type != shape.BOX){
ROS_ERROR("Safety-zone could not be created due to wrong shape-type");
safety_zone_depth = 0.0;
safety_zone_width = 0.0;
safety_zone_height = 0.0;
zone_orientation_w = 1.0;
zone_orientation_x = 1.0;
zone_orientation_y = 1.0;
zone_orientation_z = 1.0;
}else {
safety_zone_depth = shape.dimensions[0];
safety_zone_width = shape.dimensions[1];
safety_zone_height = shape.dimensions[2];
zone_orientation_w = pose.orientation.w;
zone_orientation_x = pose.orientation.x;
zone_orientation_y = pose.orientation.y;
zone_orientation_z = pose.orientation.z;
zone_position_x = pose.position.x;
zone_position_y = pose.position.y;
zone_position_z = pose.position.z;
}
}
double getZoneWidth() const {
return safety_zone_width;
}
double getZoneHeight() const {
return safety_zone_height;
}
double getZoneDepth() const {
return safety_zone_depth;
}
double getZoneOrientationW() const {
return zone_orientation_w;
}
double getZoneOrientationX() const {
return zone_orientation_x;
}
double getZoneOrientationY() const {
return zone_orientation_y;
}
double getZoneOrientationZ() const {
return zone_orientation_z;
}
std::vector<moveit_msgs::CollisionObject> createCentralizedSafetyEnvironment(moveit::planning_interface::MoveGroupInterface &move_group) {
std::vector<moveit_msgs::CollisionObject> collision_objects;
// OBJECT 1 ( left box / -y )
// ^^^^^^^^
// Define a collision object ROS message.
moveit_msgs::CollisionObject collision_object;
collision_object.header.frame_id = move_group.getPlanningFrame();
// The id of the object is used to identify it.
collision_object.id = "box1";
// Define a box to add to the world.
shape_msgs::SolidPrimitive primitive;
primitive.type = primitive.BOX;
primitive.dimensions.resize(3);
primitive.dimensions[0] = getZoneDepth() + 0.2; // x
primitive.dimensions[1] = 0.1; // y
primitive.dimensions[2] = getZoneHeight(); // z
// Define a pose for the box (specified relative to frame_id)
geometry_msgs::Pose box_pose;
box_pose.orientation.w = 1.0;
box_pose.position.x = zone_position_x;
box_pose.position.y = zone_position_y + (-1 * ((getZoneWidth() / 2) + 0.05));
box_pose.position.z = zone_position_z + (primitive.dimensions[2] / 2);
collision_object.primitives.push_back(primitive);
collision_object.primitive_poses.push_back(box_pose);
collision_object.operation = collision_object.ADD;
collision_objects.push_back(collision_object);
// OBJECT 2 right box / +y )
// ^^^^^^^^
moveit_msgs::CollisionObject collision_object_2;
collision_object_2.header.frame_id = move_group.getPlanningFrame();
// The id of the object is used to identify it.
collision_object_2.id = "box2";
// Define a box to add to the world.
shape_msgs::SolidPrimitive primitive_2;
primitive_2.type = primitive.BOX;
primitive_2.dimensions.resize(3);
primitive_2.dimensions[0] = getZoneDepth() + 0.2;
primitive_2.dimensions[1] = 0.1;
primitive_2.dimensions[2] = getZoneHeight();
// Define a pose for the box (specified relative to frame_id)
geometry_msgs::Pose box_pose_2;
box_pose_2.orientation.w = 1.0;
box_pose_2.position.x = zone_position_x;
box_pose_2.position.y = zone_position_y + ((getZoneWidth() / 2) + 0.05);
box_pose_2.position.z = zone_position_z + (primitive_2.dimensions[2] / 2);
collision_object_2.primitives.push_back(primitive_2);
collision_object_2.primitive_poses.push_back(box_pose_2);
collision_object_2.operation = collision_object_2.ADD;
collision_objects.push_back(collision_object_2);
// OBJECT 3 (front box / +x)
// ^^^^^^^^
moveit_msgs::CollisionObject collision_object_3;
collision_object_3.header.frame_id = move_group.getPlanningFrame();
// The id of the object is used to identify it.
collision_object_3.id = "box3";
// Define a box to add to the world.
shape_msgs::SolidPrimitive primitive_3;
primitive_3.type = primitive.BOX;
primitive_3.dimensions.resize(3);
primitive_3.dimensions[0] = 0.1;
primitive_3.dimensions[1] = getZoneWidth() + 0.2;
primitive_3.dimensions[2] = getZoneHeight();
// Define a pose for the box (specified relative to frame_id)
geometry_msgs::Pose box_pose_3;
box_pose_3.orientation.w = 1.0;
box_pose_3.position.x = zone_position_x + ((getZoneDepth() / 2) + 0.05);
box_pose_3.position.y = zone_position_y;
box_pose_3.position.z = zone_position_z + (primitive_3.dimensions[2] / 2);
collision_object_3.primitives.push_back(primitive_3);
collision_object_3.primitive_poses.push_back(box_pose_3);
collision_object_3.operation = collision_object_3.ADD;
collision_objects.push_back(collision_object_3);
// OBJECT 4 (back box / -x)
// ^^^^^^^^
moveit_msgs::CollisionObject collision_object_4;
collision_object_4.header.frame_id = move_group.getPlanningFrame();
// The id of the object is used to identify it.
collision_object_4.id = "box4";
// Define a box to add to the world.
shape_msgs::SolidPrimitive primitive_4;
primitive_4.type = primitive.BOX;
primitive_4.dimensions.resize(3);
primitive_4.dimensions[0] = 0.1;
primitive_4.dimensions[1] = getZoneWidth() + 0.2;
primitive_4.dimensions[2] = getZoneHeight();
// Define a pose for the box (specified relative to frame_id)
geometry_msgs::Pose box_pose_4;
box_pose_4.orientation.w = 1.0;
box_pose_4.position.x = zone_position_x + (-1 * ((getZoneDepth() / 2) + 0.05));
box_pose_4.position.y = zone_position_y;
box_pose_4.position.z = zone_position_z + (primitive_4.dimensions[2] / 2);
collision_object_4.primitives.push_back(primitive_4);
collision_object_4.primitive_poses.push_back(box_pose_4);
collision_object_4.operation = collision_object_4.ADD;
collision_objects.push_back(collision_object_4);
// OBJECT 5 (floor / -z)
// ^^^^^^^^
moveit_msgs::CollisionObject collision_object_5;
collision_object_5.header.frame_id = move_group.getPlanningFrame();
// The id of the object is used to identify it.
collision_object_5.id = "box5";
// Define a box to add to the world.
shape_msgs::SolidPrimitive primitive_5;
primitive_5.type = primitive.BOX;
primitive_5.dimensions.resize(3);
primitive_5.dimensions[0] = getZoneDepth() + 0.2;
primitive_5.dimensions[1] = getZoneWidth() + 0.2;
primitive_5.dimensions[2] = 0.1;
// Define a pose for the box (specified relative to frame_id)
geometry_msgs::Pose box_pose_5;
box_pose_5.orientation.w = 1.0;
box_pose_5.position.x = zone_position_x;
box_pose_5.position.y = zone_position_y;
box_pose_5.position.z = zone_position_z - 0.05;
collision_object_5.primitives.push_back(primitive_5);
collision_object_5.primitive_poses.push_back(box_pose_5);
collision_object_5.operation = collision_object_5.ADD;
collision_objects.push_back(collision_object_5);
// OBJECT 6 (top / +z)
// ^^^^^^^^
moveit_msgs::CollisionObject collision_object_6;
collision_object_6.header.frame_id = move_group.getPlanningFrame();
// The id of the object is used to identify it.
collision_object_6.id = "box6";
// Define a box to add to the world.
shape_msgs::SolidPrimitive primitive_6;
primitive_6.type = primitive.BOX;
primitive_6.dimensions.resize(3);
primitive_6.dimensions[0] = getZoneDepth() + 0.2;
primitive_6.dimensions[1] = getZoneWidth() + 0.2;
primitive_6.dimensions[2] = 0.1;
// Define a pose for the box (specified relative to frame_id)
geometry_msgs::Pose box_pose_6;
box_pose_6.orientation.w = 1.0;
box_pose_6.position.x = zone_position_x;
box_pose_6.position.y = zone_position_y;
box_pose_6.position.z = zone_position_z + getZoneHeight() + 0.05;
collision_object_6.primitives.push_back(primitive_6);
collision_object_6.primitive_poses.push_back(box_pose_6);
collision_object_6.operation = collision_object_6.ADD;
collision_objects.push_back(collision_object_6);
/*for(std::size_t i=0; i<collision_objects.size(); ++i) {
collision_objects[i].primitive_poses[0].orientation.w = getZoneOrientationW();
collision_objects[i].primitive_poses[0].orientation.x = getZoneOrientationX();
collision_objects[i].primitive_poses[0].orientation.y = getZoneOrientationY();
collision_objects[i].primitive_poses[0].orientation.z = getZoneOrientationZ();
}*/
return collision_objects;
}
};
\ No newline at end of file
src/GazeboZoneSpawner.cpp → src/SafetyZones/GazeboZoneSpawner.cpp
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src/GazeboZoneSpawner.h → src/SafetyZones/GazeboZoneSpawner.h
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src/SafetyZones/SafetyEnvironmentCreator.cpp 0 → 100644
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//
// Created by Sebastian Ebert
//
#include "SafetyEnvironmentCreator.h"
#include <moveit/move_group_interface/move_group_interface.h>
#include <moveit_msgs/CollisionObject.h>
SafetyEnvironmentCreator::SafetyEnvironmentCreator(shape_msgs::SolidPrimitive shape, geometry_msgs::Pose pose) {
if(shape.type != shape.BOX){
ROS_ERROR("Safety-zone could not be created due to wrong shape-type");
safety_zone_depth = 0.0;
safety_zone_width = 0.0;
safety_zone_height = 0.0;
zone_orientation_w = 1.0;
zone_orientation_x = 1.0;
zone_orientation_y = 1.0;
zone_orientation_z = 1.0;
}else {
safety_zone_depth = shape.dimensions[0];
safety_zone_width = shape.dimensions[1];
safety_zone_height = shape.dimensions[2];
zone_orientation_w = pose.orientation.w;
zone_orientation_x = pose.orientation.x;
zone_orientation_y = pose.orientation.y;
zone_orientation_z = pose.orientation.z;
zone_position_x = pose.position.x;
zone_position_y = pose.position.y;
zone_position_z = pose.position.z;
}
}
double SafetyEnvironmentCreator::getZoneWidth() const {
return safety_zone_width;
}
double SafetyEnvironmentCreator::getZoneHeight() const {
return safety_zone_height;
}
double SafetyEnvironmentCreator::getZoneDepth() const {
return safety_zone_depth;
}
double SafetyEnvironmentCreator::getZoneOrientationW() const {
return zone_orientation_w;
}
double SafetyEnvironmentCreator::getZoneOrientationX() const {
return zone_orientation_x;
}
double SafetyEnvironmentCreator::getZoneOrientationY() const {
return zone_orientation_y;
}
double SafetyEnvironmentCreator::getZoneOrientationZ() const {
return zone_orientation_z;
}
std::vector<moveit_msgs::CollisionObject>
SafetyEnvironmentCreator::createCentralizedSafetyEnvironment(moveit::planning_interface::MoveGroupInterface &move_group) {
std::vector<moveit_msgs::CollisionObject> collision_objects;
// OBJECT 1 ( left box / -y )
// ^^^^^^^^
// Define a collision object ROS message.
moveit_msgs::CollisionObject collision_object;
collision_object.header.frame_id = move_group.getPlanningFrame();
// The id of the object is used to identify it.
collision_object.id = "box1";
// Define a box to add to the world.
shape_msgs::SolidPrimitive primitive;
primitive.type = primitive.BOX;
primitive.dimensions.resize(3);
primitive.dimensions[0] = getZoneDepth() + 0.2; // x
primitive.dimensions[1] = 0.1; // y
primitive.dimensions[2] = getZoneHeight(); // z
// Define a pose for the box (specified relative to frame_id)
geometry_msgs::Pose box_pose;
box_pose.orientation.w = 1.0;
box_pose.position.x = zone_position_x;
box_pose.position.y = zone_position_y + (-1 * ((getZoneWidth() / 2) + 0.05));
box_pose.position.z = zone_position_z + (primitive.dimensions[2] / 2);
collision_object.primitives.push_back(primitive);
collision_object.primitive_poses.push_back(box_pose);
collision_object.operation = collision_object.ADD;
collision_objects.push_back(collision_object);
// OBJECT 2 right box / +y )
// ^^^^^^^^
moveit_msgs::CollisionObject collision_object_2;
collision_object_2.header.frame_id = move_group.getPlanningFrame();
// The id of the object is used to identify it.
collision_object_2.id = "box2";
// Define a box to add to the world.
shape_msgs::SolidPrimitive primitive_2;
primitive_2.type = primitive.BOX;
primitive_2.dimensions.resize(3);
primitive_2.dimensions[0] = getZoneDepth() + 0.2;
primitive_2.dimensions[1] = 0.1;
primitive_2.dimensions[2] = getZoneHeight();
// Define a pose for the box (specified relative to frame_id)
geometry_msgs::Pose box_pose_2;
box_pose_2.orientation.w = 1.0;
box_pose_2.position.x = zone_position_x;
box_pose_2.position.y = zone_position_y + ((getZoneWidth() / 2) + 0.05);
box_pose_2.position.z = zone_position_z + (primitive_2.dimensions[2] / 2);
collision_object_2.primitives.push_back(primitive_2);
collision_object_2.primitive_poses.push_back(box_pose_2);
collision_object_2.operation = collision_object_2.ADD;
collision_objects.push_back(collision_object_2);
// OBJECT 3 (front box / +x)
// ^^^^^^^^
moveit_msgs::CollisionObject collision_object_3;
collision_object_3.header.frame_id = move_group.getPlanningFrame();
// The id of the object is used to identify it.
collision_object_3.id = "box3";
// Define a box to add to the world.
shape_msgs::SolidPrimitive primitive_3;
primitive_3.type = primitive.BOX;
primitive_3.dimensions.resize(3);
primitive_3.dimensions[0] = 0.1;
primitive_3.dimensions[1] = getZoneWidth() + 0.2;
primitive_3.dimensions[2] = getZoneHeight();
// Define a pose for the box (specified relative to frame_id)
geometry_msgs::Pose box_pose_3;
box_pose_3.orientation.w = 1.0;
box_pose_3.position.x = zone_position_x + ((getZoneDepth() / 2) + 0.05);
box_pose_3.position.y = zone_position_y;
box_pose_3.position.z = zone_position_z + (primitive_3.dimensions[2] / 2);
collision_object_3.primitives.push_back(primitive_3);
collision_object_3.primitive_poses.push_back(box_pose_3);
collision_object_3.operation = collision_object_3.ADD;
collision_objects.push_back(collision_object_3);
// OBJECT 4 (back box / -x)
// ^^^^^^^^
moveit_msgs::CollisionObject collision_object_4;
collision_object_4.header.frame_id = move_group.getPlanningFrame();
// The id of the object is used to identify it.
collision_object_4.id = "box4";
// Define a box to add to the world.
shape_msgs::SolidPrimitive primitive_4;
primitive_4.type = primitive.BOX;
primitive_4.dimensions.resize(3);
primitive_4.dimensions[0] = 0.1;
primitive_4.dimensions[1] = getZoneWidth() + 0.2;
primitive_4.dimensions[2] = getZoneHeight();
// Define a pose for the box (specified relative to frame_id)
geometry_msgs::Pose box_pose_4;
box_pose_4.orientation.w = 1.0;
box_pose_4.position.x = zone_position_x + (-1 * ((getZoneDepth() / 2) + 0.05));
box_pose_4.position.y = zone_position_y;
box_pose_4.position.z = zone_position_z + (primitive_4.dimensions[2] / 2);
collision_object_4.primitives.push_back(primitive_4);
collision_object_4.primitive_poses.push_back(box_pose_4);
collision_object_4.operation = collision_object_4.ADD;
collision_objects.push_back(collision_object_4);
// OBJECT 5 (floor / -z)
// ^^^^^^^^
moveit_msgs::CollisionObject collision_object_5;
collision_object_5.header.frame_id = move_group.getPlanningFrame();
// The id of the object is used to identify it.
collision_object_5.id = "box5";
// Define a box to add to the world.
shape_msgs::SolidPrimitive primitive_5;
primitive_5.type = primitive.BOX;
primitive_5.dimensions.resize(3);
primitive_5.dimensions[0] = getZoneDepth() + 0.2;
primitive_5.dimensions[1] = getZoneWidth() + 0.2;
primitive_5.dimensions[2] = 0.1;
// Define a pose for the box (specified relative to frame_id)
geometry_msgs::Pose box_pose_5;
box_pose_5.orientation.w = 1.0;
box_pose_5.position.x = zone_position_x;
box_pose_5.position.y = zone_position_y;
box_pose_5.position.z = zone_position_z - 0.05;
collision_object_5.primitives.push_back(primitive_5);
collision_object_5.primitive_poses.push_back(box_pose_5);
collision_object_5.operation = collision_object_5.ADD;
collision_objects.push_back(collision_object_5);
// OBJECT 6 (top / +z)
// ^^^^^^^^
moveit_msgs::CollisionObject collision_object_6;
collision_object_6.header.frame_id = move_group.getPlanningFrame();
// The id of the object is used to identify it.
collision_object_6.id = "box6";
// Define a box to add to the world.
shape_msgs::SolidPrimitive primitive_6;
primitive_6.type = primitive.BOX;
primitive_6.dimensions.resize(3);
primitive_6.dimensions[0] = getZoneDepth() + 0.2;
primitive_6.dimensions[1] = getZoneWidth() + 0.2;
primitive_6.dimensions[2] = 0.1;
// Define a pose for the box (specified relative to frame_id)
geometry_msgs::Pose box_pose_6;
box_pose_6.orientation.w = 1.0;
box_pose_6.position.x = zone_position_x;
box_pose_6.position.y = zone_position_y;
box_pose_6.position.z = zone_position_z + getZoneHeight() + 0.05;
collision_object_6.primitives.push_back(primitive_6);
collision_object_6.primitive_poses.push_back(box_pose_6);
collision_object_6.operation = collision_object_6.ADD;
collision_objects.push_back(collision_object_6);
/*for(std::size_t i=0; i<collision_objects.size(); ++i) {
collision_objects[i].primitive_poses[0].orientation.w = getZoneOrientationW();
collision_objects[i].primitive_poses[0].orientation.x = getZoneOrientationX();
collision_objects[i].primitive_poses[0].orientation.y = getZoneOrientationY();
collision_objects[i].primitive_poses[0].orientation.z = getZoneOrientationZ();
}*/
return collision_objects;
}
src/SafetyZones/SafetyEnvironmentCreator.h 0 → 100644
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//
// Created by Johannes Mey on 31.03.20.
//
#ifndef PANDA_SIMULATION_SAFETYENVIRONMENTCREATOR_H
#define PANDA_SIMULATION_SAFETYENVIRONMENTCREATOR_H
#include <moveit/move_group_interface/move_group_interface.h>
#include <moveit_msgs/CollisionObject.h>
#include <moveit_visual_tools/moveit_visual_tools.h>
class SafetyEnvironmentCreator {
private:
double safety_zone_width;
double safety_zone_height;
double safety_zone_depth;
double zone_orientation_w;
double zone_orientation_x;
double zone_orientation_y;
double zone_orientation_z;
double zone_position_x;
double zone_position_y;
double zone_position_z;
public:
double getZoneWidth() const;
double getZoneHeight() const;
double getZoneDepth() const;
double getZoneOrientationW() const;
double getZoneOrientationX() const;
double getZoneOrientationY() const;
double getZoneOrientationZ() const;
/**
* ctor
* @param shape describes the inner dimensions of the safety zone
* @param pose describes position and orientation of the safety zone
* note: current zone-threshold is 0.1
*/
SafetyEnvironmentCreator(shape_msgs::SolidPrimitive shape, geometry_msgs::Pose pose);
std::vector<moveit_msgs::CollisionObject>
createCentralizedSafetyEnvironment(moveit::planning_interface::MoveGroupInterface &move_group);
};
#endif //PANDA_SIMULATION_SAFETYENVIRONMENTCREATOR_H
src/robot_control_node.cpp
+ 1
− 1
View file @ 3d654fe8
...@@ -6,7 +6,7 @@ ...@@ -6,7 +6,7 @@
#include <ros/ros.h> #include <ros/ros.h>
#include <boost/filesystem.hpp> #include <boost/filesystem.hpp>
#include "GazeboZoneSpawner.h" #include "SafetyZones/GazeboZoneSpawner.h"
static const std::string PLANNING_GROUP_ARM = "panda_arm"; static const std::string PLANNING_GROUP_ARM = "panda_arm";
static const std::string APP_DIRECTORY_NAME = ".panda_simulation"; static const std::string APP_DIRECTORY_NAME = ".panda_simulation";
......
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