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"loadRobotGraspData" code in "simple pick place" #7

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merged 2 commits into from
Jun 20, 2014
Merged

"loadRobotGraspData" code in "simple pick place" #7

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fe27225
add loadRobotGraspData in simple_pick_place
Jun 20, 2014
5250b8b
Merge branch 'master' of github.com:LTaoist/clam
Jun 20, 2014
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11 changes: 11 additions & 0 deletions clam_pick_place/config/clam_grasp_data.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,11 @@
base_link: 'base_link'

gripper_group:
end_effector_name: 'gripper_group'
joints : ['gripper_finger_joint']
pregrasp_posture : [0.0]
grasp_posture : [1.0]
end_effector_parent_link : 'gripper_roll_link'
pregrasp_time_from_start : 4.0
grasp_time_from_start : 4.0
grasp_pose_to_eef : [0,0,0]
11 changes: 11 additions & 0 deletions clam_pick_place/launch/pick_place.launch
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@@ -0,0 +1,11 @@
<launch>

<arg name="debug" default="true"/>
<rosparam command="load" file="$(find clam_pick_place)/config/clam_grasp_data.yaml"/>
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I think this needs to go inside the tags?


<group>
<node name="$(anon simple_pick_place)" type="simple_pick_place" pkg="clam_pick_place">
</node>
</group>

</launch>
6 changes: 5 additions & 1 deletion clam_pick_place/src/simple_pick_place.cpp
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Expand Up @@ -269,8 +269,12 @@ int main(int argc, char **argv)
// ---------------------------------------------------------------------------------------------
// Load the Robot Viz Tools for publishing to Rviz
rviz_tools_.reset(new moveit_visual_tools::VisualTools( BASE_LINK, RVIZ_MARKER_TOPIC));


if(!grasp_data_.loadRobotGraspData(nh, EE_GROUP))
{
ROS_ERROR_STREAM_NAMED("simple_pick_place", "Cannot load end_effector data");
return 1;
}
// ---------------------------------------------------------------------------------------------
// Load grasp generator
moveit_simple_grasps_.reset(new moveit_simple_grasps::SimpleGrasps(rviz_tools_));
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