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Commit 0769ee2d authored by Nikhil Ambardar's avatar Nikhil Ambardar
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#include <ros/ros.h>
#include "datalink/abstractobject.h"
#include "datalink/graspobject.h"
#include "datalink/hand.h"
#include "datalink/humanspace.h"
#include "datalink/joint.h"
#include "datalink/obstacle.h"
#include "datalink/robot.h"
#include "datalink/robotfpe.h"
#include "datalink/world.h"
#include "datalink/worldobject.h"
#include "datalink/quaternion.h"
#include <vector>
#include <iostream>
#include <tf2_ros/transform_listener.h>
#include <geometry_msgs/TransformStamped.h>
#include <geometry_msgs/PoseStamped.h>
#include <tf2_ros/static_transform_broadcaster.h>
#include <cstdio>
#include <tf2/LinearMath/Quaternion.h>
#include "tf2_ros/message_filter.h"
#include "message_filters/subscriber.h"
#include "tf2_geometry_msgs/tf2_geometry_msgs.h"
#include "geometry_msgs/PointStamped.h"
#include <tf2_ros/transform_broadcaster.h>
#include <tf2/LinearMath/Quaternion.h>
#include <moveit/move_group_interface/move_group_interface.h>
#include <moveit/planning_scene_interface/planning_scene_interface.h>
#include <moveit_msgs/CollisionObject.h>
#include <moveit_visual_tools/moveit_visual_tools.h>
#include <moveit/trajectory_processing/iterative_time_parameterization.h>
#include <trajectory_msgs/JointTrajectoryPoint.h>
int main(int argc, char** argv) {
ros::init(argc, argv, "Application Model");
ros::NodeHandle node_handle;
ros::AsyncSpinner spinner(1);
spinner.start();
// setup the planning environment
static const std::string PLANNING_GROUP = "panda_arm";
moveit::planning_interface::MoveGroupInterface move_group(PLANNING_GROUP);
moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
ros::Duration(3.0).sleep();
move_group.setStartStateToCurrentState();
geometry_msgs::Pose another_pose;
another_pose.orientation.w = 1.0;
another_pose.position.x = 0.4;
another_pose.position.y = -0.4;
another_pose.position.z = 0.9;
move_group.setPoseTarget(another_pose);
moveit::planning_interface::MoveGroupInterface::Plan my_plan;
bool success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
ROS_INFO("Visualizing plan %s", success ? "" : "FAILED");
// Move the (simulated) robot in gazebo
move_group.move();
if(another_pose.position.z==0.9)
ROS_INFO(" THE ROBOT HAS MOVED TO POSITION AS INTENDED ");
else
ROS_INFO("THE ROBOT HAS NOT MOVED TO THE POSITION AS INTENDED");
ros::shutdown();
abstractobject o1;
graspobject o2;
hand o3;
humanspace o4;
/*
joint o5a;
joint o5b;
joint o5c;
joint o5d;
joint o5e;
joint o5f;
joint o5g;
*/
obstacle o6;
robot o7;
robotfpe o8;
world o9;
worldobject o10;
int yx=0;
o7.jo[++yx]->name= "panda_link1";
o7.jo[++yx]->name= "panda_link2";
o7.jo[++yx]->name= "panda_link3";
o7.jo[++yx]->name= "panda_link4";
o7.jo[++yx]->name= "panda_link5";
o7.jo[++yx]->name= "panda_link6";
o7.jo[++yx]->name= "panda_link7";
/* o7.jo1->or2= {1.2,5.3,6.5,7.4};
o7.jo2->or2= {2.5,3.6,5.8,4.9};
o7.jo3->or2= {5.1,1.2,9.9,6.8};
o7.jo4->or2= {6.3,3.4,8.5,9.6};
o7.jo5->or2= {8.2,2.6,7.9,5.5};
o7.jo6->or2= {7.3,4.4,6.7,4.0};
o7.jo7->or2= {7.3,4.4,6.7,4.0};
o7.jo1->p1= {1.3, 10.1, 9.4};
o7.jo2->p1= {14.7, 11.3, 6.5};
o7.jo3->p1= {4.9, 13.8, 7.7};
o7.jo4->p1= {2.4, 12.5, 1.6};
o7.jo5->p1= {3.1, 16.2, 5.3};
o7.jo6->p1= {11.5, 15.4, 3.4};
o7.jo7->p1= {5.1, 18.3, 4.2};
*/
o9.c->robname="Robot FPE";
o9.c->of=true;
o9.c->moving=false;
o9.c->grasppos=true;
o9.c->planninggrp= "Panda Teaching";
o8.h->grippos= {12.1, 14.3, 18.2};
o3.grippos={1.1,2.3,2.1};
o9.a->humannum = 1;
o9.b1->name="Cube";
o9.b1->size={5.2, 7.5, 9.1};
o9.b1->p1= {13.2, 14.1, 17.5};
o9.b1->x= 2.3;
o9.b1->y = 1.2;
o9.b1->z = 0.2;
o9.b1->w = 0.1;
o9.b2->name="Ball";
o9.b2->size={1.3, 2.1, 3.2};
o9.b2->p1= {12.5, 16.4, 17.3};
o9.b2->x= 1.1;
o9.b2->y = 1.4;
o9.b2->z = 1.6;
o9.b2->w = 1.9;
tf2_ros::Buffer tfBuffer;
tf2_ros::TransformListener tfListener(tfBuffer);
ros::Rate rate(10);
int i=1;
int h=1;
while (node_handle.ok()) {
//for (const auto &topic : ROSNODE1::topics)
{
geometry_msgs::TransformStamped transformStamped[7];
try { transformStamped[i++] = tfBuffer.lookupTransform("world", o7.jo[h++]->name, ros::Time(0));
} catch (tf2::TransformException &ex) {
ROS_WARN("%s", ex.what());
ros::Duration(0.1).sleep();
continue;
}
if(h==7)
ROS_INFO(" TEST CASE SUCCESSFUL. ROBOT FPE HAS 7 JOINTS ");
else
ROS_ERROR(" TEST CASE NOT SUCCESSFUL. ROBOT FPE HAS WRONG NUMBER OF JOINTS ");
// TEST CASES FOR ALL AGGREGATION RELATIONS POINTERS
if(o7.jo[1]||o7.jo[2]||o7.jo[3]||o7.jo[4]||o7.jo[5]||o7.jo[6]||o7.jo[7]== nullptr)
ROS_ERROR("ERROR IN JOINTS POINTER AGGREGATION RELATIONSHIP");
if(o8.h==nullptr)
ROS_ERROR("ERROR IN HAND POINTER IN ROBOT FPE CLASS AGGREGATION RELATION");
if(o9.a== nullptr)
ROS_ERROR("ERROR IN POINTER HUMANSPACE AGGREGATION");
if(o9.c== nullptr)
ROS_ERROR("ERROR IN ROBOT CLASS AGGREGATION");
if(o9.b1== nullptr)
ROS_ERROR("ERROR IN ABSTRACT OBJECT CLASS AGGREGATION RELATION");
if(o9.b2== nullptr)
ROS_ERROR("ERROR IN ABSTRACT OBJECT CLASS AGGREGATION RELATION");
/* o7.jo1->p1[0]=0.0;
o7.jo1->p1[1]=0.0;
o7.jo1->p1[2]=0.0;
o7.jo2->p1[0]=0.0;
o7.jo2->p1[1]=0.0;
o7.jo2->p1[2]=0.0;
o7.jo3->p1[0]=0.0;
o7.jo3->p1[1]=0.0;
o7.jo3->p1[2]=0.0;
o7.jo4->p1[0]=0.0;
o7.jo4->p1[1]=0.0;
o7.jo4->p1[2]=0.0;
o7.jo5->p1[0]=0.0;
o7.jo5->p1[1]=0.0;
o7.jo5->p1[2]=0.0;
o7.jo6->p1[0]=0.0;
o7.jo6->p1[1]=0.0;
o7.jo6->p1[2]=0.0;
o7.jo7->p1[0]=0.0;
o7.jo7->p1[1]=0.0;
o7.jo7->p1[2]=0.0;
o7.jo1->p1[0]=transformStamped1.transform.translation.x;
o7.jo1->p1[1]=transformStamped1.transform.translation.y;
o7.jo1->p1[2]=transformStamped1.transform.translation.z;
ROS_INFO_STREAM("panda_link1 Position is " <<" x = "<< o7.jo1->p1[0] << ", y = "<< o7.jo1->p1[1]<<", z = "<<o7.jo1->p1[2]);
o7.jo2->p1[0]=transformStamped2.transform.translation.x;
o7.jo2->p1[1]=transformStamped2.transform.translation.y;
o7.jo2->p1[2]=transformStamped2.transform.translation.z;
ROS_INFO_STREAM("panda_link2 Position is " <<" x = "<< o7.jo2->p1[0] << ", y = "<< o7.jo2->p1[1]<<", z = "<<o7.jo2->p1[2]);
o7.jo3->p1[0]=transformStamped3.transform.translation.x;
o7.jo3->p1[1]=transformStamped3.transform.translation.y;
o7.jo3->p1[2]=transformStamped3.transform.translation.z;
ROS_INFO_STREAM("panda_link3 Position is " <<" x = "<< o7.jo3->p1[0] << ", y = "<< o7.jo3->p1[1]<<", z = "<<o7.jo3->p1[2]);
o7.jo4->p1[0]=transformStamped4.transform.translation.x;
o7.jo4->p1[1]=transformStamped4.transform.translation.y;
o7.jo4->p1[2]=transformStamped4.transform.translation.z;
ROS_INFO_STREAM("panda_link4 Position is " <<" x = "<< o7.jo4->p1[0] << ", y = "<< o7.jo4->p1[1]<<", z = "<<o7.jo4->p1[2]);
o7.jo5->p1[0]=transformStamped5.transform.translation.x;
o7.jo5->p1[1]=transformStamped5.transform.translation.y;
o7.jo5->p1[2]=transformStamped5.transform.translation.z;
ROS_INFO_STREAM("panda_link5 Position is " <<" x = "<< o7.jo5->p1[0] << ", y = "<< o7.jo5->p1[1]<<", z = "<<o7.jo5->p1[2]);
o7.jo6->p1[0]=transformStamped6.transform.translation.x;
o7.jo6->p1[1]=transformStamped6.transform.translation.y;
o7.jo6->p1[2]=transformStamped6.transform.translation.z;
ROS_INFO_STREAM("panda_link6 Position is " <<" x = "<< o7.jo6->p1[0] << ", y = "<< o7.jo6->p1[1]<<", z = "<<o7.jo6->p1[2]);
o7.jo7->p1[0]=transformStamped7.transform.translation.x;
o7.jo7->p1[0]=transformStamped7.transform.translation.y;
o7.jo7->p1[0]=transformStamped7.transform.translation.z;
ROS_INFO_STREAM("panda_link7 Position is " <<" x = "<< o7.jo7->p1[0] << ", y = "<< o7.jo7->p1[1]<<", z = "<<o7.jo7->p1[2]);
o7.jo1->or2.w=0.0;
o7.jo1->or2.x=0.0;
o7.jo1->or2.y=0.0;
o7.jo1->or2.z=0.0;
o7.jo2->or2.w=0.0;
o7.jo2->or2.x=0.0;
o7.jo2->or2.y=0.0;
o7.jo2->or2.z=0.0;
o7.jo3->or2.w=0.0;
o7.jo3->or2.x=0.0;
o7.jo3->or2.y=0.0;
o7.jo3->or2.z=0.0;
o7.jo4->or2.w=0.0;
o7.jo4->or2.x=0.0;
o7.jo4->or2.y=0.0;
o7.jo4->or2.z=0.0;
o7.jo5->or2.w=0.0;
o7.jo5->or2.x=0.0;
o7.jo5->or2.y=0.0;
o7.jo5->or2.z=0.0;
o7.jo6->or2.w=0.0;
o7.jo6->or2.x=0.0;
o7.jo6->or2.y=0.0;
o7.jo6->or2.z=0.0;
o7.jo7->or2.w=0.0;
o7.jo7->or2.x=0.0;
o7.jo7->or2.y=0.0;
o7.jo7->or2.z=0.0;
o7.jo1->or2.w=transformStamped1.transform.rotation.w;
o7.jo1->or2.x=transformStamped1.transform.rotation.x;
o7.jo1->or2.y=transformStamped1.transform.rotation.y;
o7.jo1->or2.z=transformStamped1.transform.rotation.z;
ROS_INFO_STREAM("panda_link1 Orientation is " <<" w = "<< o7.jo1->or2.w<<", x = "<<o7.jo1->or2.x<<", y = "<<o7.jo1->or2.y<<", z = "<<o7.jo1->or2.z);
o7.jo2->or2.w=transformStamped2.transform.rotation.w;
o7.jo2->or2.x=transformStamped2.transform.rotation.x;
o7.jo2->or2.y=transformStamped2.transform.rotation.y;
o7.jo2->or2.z=transformStamped2.transform.rotation.z;
ROS_INFO_STREAM("panda_link2 Orientation is " <<" w = "<< o7.jo2->or2.w<<", x = "<< o7.jo2->or2.x<<", y = "<< o7.jo2->or2.y<<", z = "<< o7.jo2->or2.z);
o7.jo3->or2.w=transformStamped3.transform.rotation.w;
o7.jo3->or2.x=transformStamped3.transform.rotation.x;
o7.jo3->or2.y=transformStamped3.transform.rotation.y;
o7.jo3->or2.z=transformStamped3.transform.rotation.z;
ROS_INFO_STREAM("panda_link3 Orientation is " <<" w = "<< o7.jo3->or2.w<<", x = "<<o7.jo3->or2.x<<", y = "<<o7.jo3->or2.y<<", z = "<<o7.jo3->or2.z);
o7.jo4->or2.w=transformStamped4.transform.rotation.w;
o7.jo4->or2.x=transformStamped4.transform.rotation.x;
o7.jo4->or2.y=transformStamped4.transform.rotation.y;
o7.jo4->or2.z=transformStamped4.transform.rotation.z;
ROS_INFO_STREAM("panda_link4 Orientation is " <<" w = "<<o7.jo4->or2.w<<", x = "<<o7.jo4->or2.x<<", y = "<<o7.jo4->or2.y<<", z = "<<o7.jo4->or2.z);
o7.jo5->or2.w=transformStamped5.transform.rotation.w;
o7.jo5->or2.x=transformStamped5.transform.rotation.x;
o7.jo5->or2.y=transformStamped5.transform.rotation.y;
o7.jo5->or2.z=transformStamped5.transform.rotation.z;
ROS_INFO_STREAM("panda_link5 Orientation is " <<" w = "<< o7.jo5->or2.w<<", x = "<<o7.jo5->or2.x<<", y = "<<o7.jo5->or2.y<<", z = "<<o7.jo5->or2.z);
o7.jo6->or2.w=transformStamped6.transform.rotation.w;
o7.jo6->or2.x=transformStamped6.transform.rotation.x;
o7.jo6->or2.y=transformStamped6.transform.rotation.y;
o7.jo6->or2.z=transformStamped6.transform.rotation.z;
ROS_INFO_STREAM("panda_link6 Orientation is " <<" w = "<< o7.jo6->or2.w<<", x = "<<o7.jo6->or2.x<<", y = "<<o7.jo6->or2.y<<", z = "<<o7.jo6->or2.z);
o7.jo7->or2.w=transformStamped7.transform.rotation.w;
o7.jo7->or2.x=transformStamped7.transform.rotation.x;
o7.jo7->or2.y=transformStamped7.transform.rotation.y;
o7.jo7->or2.z=transformStamped7.transform.rotation.z;
ROS_INFO_STREAM("panda_link7 Orientation is " <<" w = "<<o7.jo7->or2.w<<", x = "<<o7.jo7->or2.x<<", y = "<<o7.jo7->or2.y<<", z = "<<o7.jo7->or2.z);
*/
}
rate.sleep();
}
return 0;
}
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