Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Add server params #16

Merged
merged 2 commits into from
Jul 9, 2015
Merged

Add server params #16

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
9fbc903
Add params to make robot-agnostic
Jul 1, 2015
2148213
Update server launch with new params
Jul 1, 2015
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 6 additions & 0 deletions launch/grasp_generator_server.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,8 +2,14 @@

<arg name="robot" default="reem" />

<arg name="group" default="right_arm" />
<arg name="end_effector" default="right" />

<!-- Start the test -->
<node name="moveit_simple_grasps_server" pkg="moveit_simple_grasps" type="moveit_simple_grasps_server" output="screen">
<param name="group" value="$(arg group)"/>
<param name="end_effector" value="$(arg end_effector)"/>

<rosparam command="load" file="$(find moveit_simple_grasps)/config/$(arg robot)_grasp_data.yaml"/>
</node>

Expand Down
24 changes: 15 additions & 9 deletions src/simple_grasps_server.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -33,9 +33,9 @@
*/

/* Author: Bence Magyar
Desc: Action server wrapper for object grasp generator. Currently only works for REEM robot,
needs to be changed to work with yaml configuration file instead.
*/
* Enrique Fernandez
* Desc: Action server wrapper for object grasp generator.
*/

// ROS
#include <ros/ros.h>
Expand Down Expand Up @@ -125,21 +125,24 @@ namespace moveit_simple_grasps
moveit_simple_grasps::GraspData grasp_data_;

// which arm are we using
std::string side_;
std::string end_effector_name_;
std::string planning_group_name_;

public:

// Constructor
GraspGeneratorServer(const std::string &name, const std::string &side)
GraspGeneratorServer(const std::string &name)
: nh_("~")
, as_(nh_, name, boost::bind(&moveit_simple_grasps::GraspGeneratorServer::executeCB, this, _1), false)
, side_(side)
, planning_group_name_(side_+"_arm")
, end_effector_name_("end_effector")
, planning_group_name_("arm")
{
// ---------------------------------------------------------------------------------------------
nh_.param("group", planning_group_name_, planning_group_name_);
nh_.param("end_effector", end_effector_name_, end_effector_name_);

// Load grasp data specific to our robot
if (!grasp_data_.loadRobotGraspData(nh_, side_))
if (!grasp_data_.loadRobotGraspData(nh_, end_effector_name_))
ros::shutdown();

// ---------------------------------------------------------------------------------------------
Expand Down Expand Up @@ -192,7 +195,10 @@ namespace moveit_simple_grasps
int main(int argc, char *argv[])
{
ros::init(argc, argv, "grasp_generator_server");
moveit_simple_grasps::GraspGeneratorServer grasp_generator_server("generate", "right");

moveit_simple_grasps::GraspGeneratorServer grasp_generator_server("generate");

ros::spin();

return 0;
}