NODE manipulation controller

controller for performig the manipulation

In a nutshell, this node implements a very simple service able to communicate with moveit in order to perform a manipulation with the RoboCLuedo hunter manipulator. The robot comes with a set of predefined poses, that the controller can call under request.

This version of the node, except for containing new poses referred to the new model of robot, introduces a very raw implementation of a asynchronous movement, performed using a simple topic.

Todo:: implement the asynchronous movement using a ROS action instead. Or, at least, introduce a signal.

Authors: Francesco Ganci
Version: v1.2

Todo:: introduce cartesian planning and a clear end effector

Todo:: the way the node uses moveit is a bit raw … it would deserve a review.

Note

this implementation supports the developer mode: waitkey, print develop.

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)

ARM_PLANNING_GROUP

SERVICE_MANIP

TOPIC_MANIP_ASYNC

POSE_SET_CARTESIAN

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

POSE_NAME_HOME

POSE_NAME_CAM_LEFT

POSE_NAME_CAM_RIGHT

POSE_NAME_CAM_BACK

POSE_NAME_CAM_LOW

POSE_NAME_CAM_LOW_LEFT

POSE_NAME_CAM_LOW_BACK

POSE_NAME_CAM_LOW_RIGHT

POSE_NAME_HOME_LOW

Functions

void shut_msg(int sig)

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

class node_manipulation_controller

implementation of the node

Public Functions

inline node_manipulation_controller()

class constructor

the class constructor performs the initialisation of the move group interface, then sets up some parameters, and finally mves the arm in the home position.

When launched, the node first of all puts the robotic manipulator in a known state, which is the home position.

inline void spin(): simple spin (wait for shutdown)

inline bool cbk_manip(robocluedo_movement_controller_msgs::ManipulatorPosition::Request &req, robocluedo_movement_controller_msgs::ManipulatorPosition::Response &res)

sybchronous manipulation

given a poture, the service sets it and moves the robotic manipulator until it hasn’t achieved that.

Parameters

req – the posture to be set
res – if the motion planning succeeded or not

inline void cbk_manip_async(const robocluedo_movement_controller_msgs::ManipulatorPositionAsync::ConstPtr &req)

async manpulation command (from topic)

Todo:: implement a progress checking

Note

once activated, there’s no way to stop the motion!

Private Members

ros::NodeHandle nh: ROS node handle.

std::string planning_group: moveIt group name

moveit::planning_interface::MoveGroupInterface mgi: planning interface

moveit::planning_interface::MoveGroupInterface::Plan plan: previously generated plan

ros::ServiceServer srv_manip: moveit service

ros::Subscriber sub_moveit_async: subscriber moveit async

bool movement_async_enabled = true: movement async enabled

std::mutex mtx: a mutex for controlling the service calling and the async motion request