NODE manipulation_unit

manipulator high-level motion planning

This is node has been ment, in the RCL#2 project, to act as a communication mean between the ROSPlan framework and the real manipulation controller, but since the RCL#3 project doesn’t require (so far) a explicit manipulation capability from ROSPlan, the node has here another function: managing the movement of the arm during the exploration of the environment.

To be more precise, this new version of the manipulation uit, when turned on, makes the robotic manipulator to assume a pose randomly choosen while the robot is moving. This enables the robot to get also hints that, with a more deterministic movement of the camera, could be missed since the robot acts always in the same way. There are some unluky cases, but most of times it seems to work fine.

Authors: Francesco Ganci
Version: v1.0

Note

This implementation supports the develop mode: waitey, debug print

Defines

NODE_NAME

LOGSQUARE(str)

OUTLABEL

TLOG(msg)

TWARN(msg)

TERR(msg)

DEVELOP_MODE

DEVELOP_PRINT

WTLOG(msg)

WTWARN(msg)

WTERR(msg)

DEVELOP_WAIKEY

WAITKEY

SS(chr)

SSS(el)

SERVICE_ROBOPLAN_MANIP

SERVICE_MANIP

TOPIC_MARMERS

TOPIC_MANIP_ASYNC

SERVICE_RANDOM_ARM_SWITCH

POSE_HOME

POSE_CAM_LEFT

POSE_CAM_RIGHT

POSE_CAM_BACK

POSE_CAM_LOW

POSE_CAM_LOW_LEFT

POSE_CAM_LOW_BACK

POSE_CAM_LOW_RIGHT

POSE_HOME_LOW

Functions

void shut_msg(int sig)

int main(int argc, char *argv[])

class node_manipulation_unit

Public Functions

inline node_manipulation_unit(): node constructor

inline void spin()

spin function: send a new pose each 5 seconds

When activated, the unit sends a new pose, randomly taken from the set of the valid ones, to the manipulation controller, and makes it running asynchronosly.

Note

currently the manipulation controller in asynchronous mode doesn’t implement a check for the progress, so the node sends a new position with a regular time interval which is assumed to be large enough to complete the transition from one position to another.

inline bool cbk_auto_manip_switch(std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res)

switch the automatic manipulation

the service allows to switch on and off the random automatic movements of the arm.

Private Members

ros::NodeHandle nh: ROS node handle.

ros::ServiceClient cl_manip: manipulation controller client

ros::Publisher pub_motion_async: subscription for the async motion

ros::ServiceServer srv_auto_manip_switch: switch for the authomatic manipulation

bool auto_manip_active = false: automatic manipulation on? (default: not active)