fetch_robowflex_planner.cpp File Reference

#include <robowflex_library/builder.h>
#include <robowflex_library/detail/fetch.h>
#include <robowflex_library/io/visualization.h>
#include <robowflex_library/log.h>
#include <robowflex_library/planning.h>
#include <robowflex_library/robot.h>
#include <robowflex_library/scene.h>
#include <robowflex_library/util.h>
#include <robowflex_dart/planner.h>

Go to the source code of this file.

Functions
int	main (int argc, char **argv)

Variables
static const std::string	GROUP = "arm_with_torso"

Function Documentation

main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 18 of file fetch_robowflex_planner.cpp.

{
    // Startup ROS
    ROS ros(argc, argv);
 
    // Create the default Fetch robot.
    auto fetch = std::make_shared<FetchRobot>();
    fetch->initialize();
 
    // Create an RViz visualization helper
    IO::RVIZHelper rviz(fetch);
    RBX_INFO("RViz Initialized! Press enter to continue (after your RViz is setup)...");
    std::cin.get();
 
    // Create an empty scene.
    auto scene = std::make_shared<Scene>(fetch);
 
    // Create the default planner for the Fetch.
    auto planner = std::make_shared<darts::DARTPlanner>(fetch);
 
    // Create a motion planning request with a pose goal.
    MotionRequestBuilder request(planner, GROUP);
    fetch->setGroupState(GROUP, {0.05, 1.32, 1.40, -0.2, 1.72, 0.0, 1.66, 0.0});  // Stow
    request.setStartConfiguration(fetch->getScratchState());
 
    fetch->setGroupState(GROUP, {0.265, 0.501, 1.281, -2.272, 2.243, -2.774, 0.976, -2.007});  // Unfurl
    request.setGoalConfiguration(fetch->getScratchState());
 
    request.setConfig("rrt::RRTConnect");
 
    // Do motion planning!
    planning_interface::MotionPlanResponse res = planner->plan(scene, request.getRequest());
    if (res.error_code_.val != moveit_msgs::MoveItErrorCodes::SUCCESS)
        return 1;
 
    // Publish the trajectory to a topic to display in RViz
    rviz.updateTrajectory(res);
 
    return 0;
}

Variable Documentation

GROUP

const std::string GROUP = "arm_with_torso"

static

Definition at line 16 of file fetch_robowflex_planner.cpp.