merge with upstream

Merge branch 'master' of github.com:xiaozhuchacha/OpenBottle

robot_control/action_manager/CMakeLists.txt

@@ -0,0 +1,207 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(action_manager)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  geometry_msgs
+  huroco_grasping
+  huroco_left_arm
+  huroco_right_arm
+  roscpp
+  rospy
+  std_msgs
+  std_srvs
+  baxter_core_msgs
+  message_generation
+  right_gripper_receiver
+)
+
+## System dependencies are found with CMake's conventions
+find_package(cmake_modules)
+find_package(catkin REQUIRED COMPONENTS baxter_core_msgs huroco_left_arm huroco_right_arm huroco_grasping right_gripper_receiver)
+find_package(Boost REQUIRED COMPONENTS system)
+find_package(Eigen3 REQUIRED)
+
+
+#Use C++ 11
+set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+add_service_files(
+   FILES
+   execAction.srv
+   setBottle.srv 
+)   
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+   DEPENDENCIES
+   std_msgs
+   std_srvs
+   baxter_core_msgs
+   geometry_msgs
+)
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  INCLUDE_DIRS include
+#  LIBRARIES action_manager
+  CATKIN_DEPENDS geometry_msgs huroco_grasping huroco_left_arm huroco_right_arm roscpp rospy std_msgs std_srvs right_gripper_receiver
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(action_manager
+#   src/${PROJECT_NAME}/action_manager.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(action_manager ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+add_executable(action_manager src/4dhoi.cpp)
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+add_dependencies(action_manager ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_dependencies(action_manager ${PROJECT_NAME}_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(action_manager
+   ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS action_manager action_manager_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_action_manager.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

robot_control/action_manager/config/bottles.yaml

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+bottle64: 0.03
+bottle68: 0.03
+bottle69: 0.03
+bottle72: 0.03
+bottle73: 0.03
+bottle74: 0.03
+bottle75: 0.03
+bottle76: 0.03

robot_control/action_manager/include/action_manager/4dhoi.h

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+#ifndef ACTION_H
+#define ACTION_H
+
+
+#include <ros/ros.h>
+#include <std_msgs/String.h>
+
+#include <string>
+
+#include "huroco_right_arm/rightCartesian.h"
+#include "huroco_left_arm/leftCartesian.h"
+#include "huroco_left_arm/rotateLeftWrist.h"
+#include "huroco_right_arm/rightInit.h"
+
+#include "huroco_grasping/graspPose.h"
+#include "huroco_grasping/graspCap.h"
+
+#include "right_gripper_receiver/rightGrasp.h"
+#include "right_gripper_receiver/rightStatus.h"
+
+#include "action_manager/execAction.h"
+#include "action_manager/setBottle.h"
+
+#include "baxter_core_msgs/EndpointState.h"
+
+
+
+class Action
+{
+public:
+	Action();
+	~Action();
+
+
+private:
+	void getLeftPose(const baxter_core_msgs::EndpointState msg);
+
+	void approach(std::string bottle);
+
+	void twist();
+
+	void move();
+
+	void pinch();
+
+	void grasp();
+
+	void ungrasp();
+
+	void push();
+
+	void neutral();
+
+	void pull();
+
+	bool setBottles(action_manager::setBottle::Request &req,
+					action_manager::setBottle::Response &res);
+
+	bool executeActions(action_manager::execAction::Request &req,
+						action_manager::execAction::Response &res);
+
+
+	ros::NodeHandle nh_;
+	ros::AsyncSpinner spinner_;
+
+	ros::ServiceServer set_bottle_;
+	ros::ServiceServer action_execution_;
+
+	ros::ServiceClient right_cartesian_;
+	ros::ServiceClient left_cartesian_;
+
+	ros::ServiceClient right_approach_;
+	ros::ServiceClient left_approach_;
+
+	ros::ServiceClient right_grasp_;
+	ros::ServiceClient right_grasp_status_;
+	ros::Publisher left_grasp_;
+
+	ros::ServiceClient left_wrist_;
+
+	ros::ServiceClient right_init_;
+
+	ros::Subscriber robot_state_sub_;
+
+	geometry_msgs::Pose current_pose_;
+
+	bool sub_trigger_;
+
+	std::string bottle_;
+};
+
+
+#endif

robot_control/action_manager/launch/action.launch

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+<launch>
+  <node name="action_manager" pkg="action_manager" type="action_manager" respawn="false" output="screen" >
+  	<rosparam command="load" file="$(find action_manager)/config/bottles.yaml" />
+  </node>
+
+</launch>

robot_control/action_manager/package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>action_manager</name>
+  <version>0.0.0</version>
+  <description>The action_manager package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="feng@todo.todo">feng</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/action_manager</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>cmake_modules</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>huroco_grasping</build_depend>
+  <build_depend>huroco_left_arm</build_depend>
+  <build_depend>huroco_right_arm</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>std_srvs</build_depend>
+  <build_depend>baxter_core_msgs</build_depend>
+  <build_depend>right_gripper_receiver</build_depend>
+
+  <run_depend>cmake_modules</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>huroco_grasping</run_depend>
+  <run_depend>huroco_left_arm</run_depend>
+  <run_depend>huroco_right_arm</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>std_srvs</run_depend>
+  <run_depend>baxter_core_msgs</run_depend>
+  <run_depend>right_gripper_receiver</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>