The node doesn't instantly die anymore
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0f4886c48f
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GPG key ID:
10543A0DA2EC1E12
5 changed files with 72 additions and 174 deletions
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@ -44,14 +44,10 @@ def generate_launch_description():
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Node(
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package='move_group_interface',
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executable='move_group_interface_ndde',
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output='screen',
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),
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Node(
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package='move_group_interface',
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executable='client_node',
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executable='move_group_interface_node',
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output='screen',
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),
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Node(
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package='joystickmove',
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executable='move',
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@ -19,22 +19,23 @@ endif()
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(moveit_ros_planning_interface REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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# Create service stuff
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rosidl_generate_interfaces(${PROJECT_NAME}
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"srv/MovePose.srv"
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DEPENDENCIES geometry_msgs
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)
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#rosidl_generate_interfaces(${PROJECT_NAME}
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# "srv/MovePose.srv"
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# DEPENDENCIES geometry_msgs
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#)
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# move_group_node
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add_executable(move_group_interface_node src/move_group_interface_node.cpp)
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ament_target_dependencies(move_group_interface_node rclcpp geometry_msgs)
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rosidl_target_interfaces(move_group_interface_node ${PROJECT_NAME} "rosidl_typesupport_cpp")
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ament_target_dependencies(move_group_interface_node rclcpp geometry_msgs moveit_ros_planning_interface)
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#rosidl_target_interfaces(move_group_interface_node ${PROJECT_NAME} "rosidl_typesupport_cpp")
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add_executable(client_node src/client_node.cpp)
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ament_target_dependencies(client_node rclcpp)
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rosidl_target_interfaces(client_node ${PROJECT_NAME} "rosidl_typesupport_cpp")
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#add_executable(client_node src/client_node.cpp)
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#ament_target_dependencies(client_node rclcpp)
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#rosidl_target_interfaces(client_node ${PROJECT_NAME} "rosidl_typesupport_cpp")
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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@ -48,7 +49,7 @@ if(BUILD_TESTING)
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endif()
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# Mark executables for installation
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install(TARGETS move_group_interface_node client_node
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install(TARGETS move_group_interface_node
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DESTINATION lib/${PROJECT_NAME})
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ament_package()
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@ -14,6 +14,7 @@
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<exec_depend>rosidl_default_runtime</exec_depend>
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<depend>rclcpp</depend>
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<depend>geometry_msgs</depend>
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<depend>moveit_ros_planning_interface</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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@ -1,71 +0,0 @@
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#include <rclcpp/rclcpp.hpp>
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#include <move_group_interface/srv/move_pose.hpp>
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#include "geometry_msgs/msg/pose_stamped.hpp"
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class ScanNPlan : public rclcpp::Node {
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public:
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ScanNPlan() : Node("scan_n_plan") {
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move_client_ = this->create_client<move_group_interface::srv::MovePose>("update_pose");
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pose_sub_ = this->create_subscription<geometry_msgs::msg::PoseStamped>(
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"move_pose",
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rclcpp::QoS(1),
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std::bind(&ScanNPlan::moveCallback, this, std::placeholders::_1)
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);
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}
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void moveCallback(geometry_msgs::msg::PoseStamped::SharedPtr msg) {
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RCLCPP_INFO(get_logger(), "Attempting to move to pose");
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// Wait for service to be available
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if (!move_client_->wait_for_service(std::chrono::seconds(5))) {
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RCLCPP_ERROR(get_logger(), "Unable to find move_pose service. Start move_pose first.");
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return;
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}
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// Create a request for the MovePose service call
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auto request = std::make_shared<move_group_interface::srv::MovePose::Request>();
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request->pose = msg;
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auto future = move_client_->async_send_request(request);
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if (rclcpp::spin_until_future_complete(this->get_node_base_interface(), future) != rclcpp::executor::FutureReturnCode::SUCCESS) {
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RCLCPP_ERROR(this->get_logger(), "Failed to receive MovePose service response");
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return;
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}
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auto response = future.get();
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if (!response->success) {
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RCLCPP_ERROR(this->get_logger(), "MovePose service failed");
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return;
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}
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// Successfully moved
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/*
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RCLCPP_INFO(this->get_logger(), "Moved to pose: x: %f, y: %f, z: %f - x: %f, y: %f, z: %f, w: %f",
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response->pose.position.x,
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response->pose.position.y,
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response->pose.position.z,
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response->pose.orientation.x,
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response->pose.orientation.y,
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response->pose.orientation.z,
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response->pose.orientation.w
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);
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*/
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}
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private:
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rclcpp::Client<move_group_interface::srv::MovePose>::SharedPtr move_client_;
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rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr pose_sub_;
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};
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int main(int argc, char **argv) {
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rclcpp::init(argc, argv);
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/*
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auto app = std::make_shared<ScanNPlan>();
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app->start();
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*/
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rclcpp::shutdown();
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return 0;
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}
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@ -1,122 +1,93 @@
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// https://github.com/ros-planning/moveit2_tutorials/blob/main/doc/examples/moveit_cpp/src/moveit_cpp_tutorial.cpp
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#include <rclcpp/rclcpp.hpp>
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#include <string>
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#include <thread>
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// MoveitCpp
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#include <moveit/moveit_cpp/moveit_cpp.h>
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#include <moveit/moveit_cpp/planning_component.h>
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// https://github.com/ros-planning/moveit_visual_tools/tree/foxy
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// #include <moveit_visual_tools/moveit_visual_tools.h>
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#include <move_group_interface/srv/move_pose.hpp>
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#include "geometry_msgs/msg/pose_stamped.hpp"
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// namespace rvt = rviz_visual_tools;
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const std::string PLANNING_GROUP = "ar3_arm";
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const std::string PLANNING_GROUP = "base_link";
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class ScanNPlan : public rclcpp::Node {
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public:
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ScanNPlan() : Node("scan_n_plan") {
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// create the node and start it
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nh_ = std::make_shared<rclcpp::Node>("scan_n_plan");
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class Localizer : public rclcpp::Node {
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public:
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Localizer() : Node("move_group_interface_node") {//, last_msg_{nullptr} {
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/*
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pose_sub_ = this->create_subscription<geometry_msgs::msg::PoseStamped>(
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"move_pose",
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rclcpp::QoS(1),
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std::bind(&Localizer::moveCallback, this, std::placeholders::_1)
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);
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*/
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server_ = this->create_service<move_group_interface::srv::MovePose>(
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"update_pose",
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std::bind(&Localizer::movePose, this, std::placeholders::_1, std::placeholders::_2)
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);
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}
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// spin the node
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executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
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executor_->add_node(nh_);
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/*
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void moveCallback(geometry_msgs::msg::PoseStamped::SharedPtr msg) {
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last_msg_ = msg;
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}
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RCLCPP_INFO(nh_->get_logger(), "scan and plan in constructor");
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auto spin = [this]() {
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while(rclcpp::ok()) {
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executor_->spin_once();
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RCLCPP_INFO(nh_->get_logger(), "scan and plan still running");
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}
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};
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thread_executor_spin_ = std::thread(spin);
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*/
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void movePose(move_group_interface::srv::MovePose::Request::SharedPtr req,
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move_group_interface::srv::MovePose::Response::SharedPtr res) {
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// Read last message
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geometry_msgs::msg::PoseStamped::SharedPtr p = req->pose; // last_msg_;
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// create subscriber
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pose_sub_ = nh_->create_subscription<geometry_msgs::msg::PoseStamped>(
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"move_pose",
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rclcpp::QoS(1),
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std::bind(&ScanNPlan::moveCallback, this, std::placeholders::_1)
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);
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}
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if (!p) {
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RCLCPP_ERROR(this->get_logger(), "no data");
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res->success = false;
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return;
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}
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private:
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void moveCallback(geometry_msgs::msg::PoseStamped::SharedPtr p) {
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auto moveit_cpp_ptr = std::make_shared<moveit_cpp::MoveItCpp>(nh_);
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// https://moveit.picknik.ai/galactic/doc/examples/moveit_cpp/moveitcpp_tutorial.html
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//auto psm = std::make_shared<planning_scene_monitor::PlanningSceneMonitor>("robot_description");
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//psm->startSceneMonitor();
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moveit_cpp_ptr->getPlanningSceneMonitor()->providePlanningSceneService();
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// set up with current position
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auto moveit_cpp_ptr = std::make_shared<moveit_cpp::MoveItCpp>(this);
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moveit_cpp_ptr->getPlanningSceneMonitor()->providePlanningSceneService();
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auto planning_components = std::make_shared<moveit_cpp::PlanningComponent>(PLANNING_GROUP, moveit_cpp_ptr);
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auto robot_model_ptr = moveit_cpp_ptr->getRobotModel();
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auto robot_start_state = planning_components->getStartState();
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// auto joint_model_group_ptr = robot_model_ptr->getJointModelGroup(PLANNING_GROUP);
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// planning_scene_monitor::LockedPlanningSceneRW scene{moveit_cpp_ptr->getPlanningSceneMonitor()};
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// set up visualizations
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/*
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moveit_visual_tools::MoveItVisualTools visual_tools(node, "base_link", "move_group_interface", moveit_cpp_ptr->getPlanningSceneMonitor());
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visual_tools.deleteAllMarkers();
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visual_tools.loadRemoteControl();
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auto planning_components = std::make_shared<moveit_cpp::PlanningComponent>(PLANNING_GROUP, moveit_cpp_ptr);
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auto robot_model_ptr = moveit_cpp_ptr->getRobotModel();
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auto robot_start_state = planning_components->getStartState();
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Eigen::Isometry3d text_pose = Eigen::Isometry3d::Identity();
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text_pose.translation().z() = 1.75;
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planning_components->setStartStateToCurrentState();
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visual_tools.trigger();
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*/
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// set the goal to the request pose
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planning_components->setGoal(*p, "base_link");
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// just in case
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planning_components->setStartStateToCurrentState();
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// actually plan
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auto plan_solution = planning_components->plan();
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// set the goal to the request pose
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planning_components->setGoal(p, "ar3_arm");
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// actually plan
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auto plan_solution = planning_components->plan();
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// plan is valid
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if (plan_solution) {
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// display the robot in rviz
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/*
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visual_tools.publishAxisLabeled(robot_start_state->getGlobalLinkTransform("base_link"), "start_pose");
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visual_tools.publishText(text_pose, "Start Pose", rvt::WHITE, rvt::XLARGE);
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visual_tools.publishAxisLabeled(target_pose1.pose, "target_pose");
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visual_tools.publishText(text_pose, "Goal Pose", rvt::WHITE, rvt::XLARGE);
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visual_tools.publishTrajectoryLine(plan_solution.trajectory, joint_model_group_ptr);
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visual_tools.trigger();
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*/
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// Execute plan
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planning_components->execute();
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}
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// set response variables to updated robot states
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res->header = p->header; // TODO: change these to current state (post move)
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res->pose = p->pose;
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res->success = true;
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// plan is valid
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if (plan_solution) {
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planning_components->execute();
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}
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}
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private:
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rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr pose_sub_;
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// rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr pose_sub_;
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// geometry_msgs::msg::PoseStamped::SharedPtr last_msg_;
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rclcpp::Service<move_group_interface::srv::MovePose>::SharedPtr server_;
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//please
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rclcpp::Node::SharedPtr nh_;
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rclcpp::executors::SingleThreadedExecutor::SharedPtr executor_;
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std::thread thread_executor_spin_;
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};
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int main(int argc, char* argv[]) {
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rclcpp::init(argc, argv);
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auto node = std::make_shared<Localizer>();
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auto node = std::make_shared<ScanNPlan>();
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RCLCPP_INFO(node->get_logger(), "MoveGroup node started.");
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rclcpp::spin(node);
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RCLCPP_INFO(node->get_logger(), "Terminating MoveGroup");
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rclcpp::shutdown();
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return 0;
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}
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