demo_scene.cpp

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/* Author: Ioan Sucan */
 
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <geometric_shapes/solid_primitive_dims.h>
#include <rclcpp/clock.hpp>
#include <rclcpp/executors.hpp>
#include <rclcpp/logger.hpp>
#include <rclcpp/logging.hpp>
#include <rclcpp/node.hpp>
#include <rclcpp/publisher.hpp>
#include <rclcpp/version.h>
#if RCLCPP_VERSION_GTE(20, 0, 0)
#include <rclcpp/event_handler.hpp>
#else
#include <rclcpp/qos_event.hpp>
#endif
#include <rclcpp/time.hpp>
#include <rclcpp/utilities.hpp>
 
static const std::string ROBOT_DESCRIPTION = "robot_description";
 
void sendKnife(const rclcpp::Node::SharedPtr& node)
{
  auto pub_aco = node->create_publisher<moveit_msgs::msg::AttachedCollisionObject>("attached_collision_object", 10);
  moveit_msgs::msg::AttachedCollisionObject aco;
  aco.link_name = "r_wrist_roll_link";
  aco.touch_links.push_back("r_wrist_roll_link");
  aco.touch_links.push_back("r_gripper_palm_link");
  aco.touch_links.push_back("r_gripper_led_frame");
  aco.touch_links.push_back("r_gripper_motor_accelerometer_link");
  aco.touch_links.push_back("r_gripper_tool_frame");
  aco.touch_links.push_back("r_gripper_motor_slider_link");
  aco.touch_links.push_back("r_gripper_motor_screw_link");
  aco.touch_links.push_back("r_gripper_l_finger_link");
  aco.touch_links.push_back("r_gripper_l_finger_tip_link");
  aco.touch_links.push_back("r_gripper_r_finger_link");
  aco.touch_links.push_back("r_gripper_r_finger_tip_link");
  aco.touch_links.push_back("r_gripper_l_finger_tip_frame");
 
  moveit_msgs::msg::CollisionObject& co = aco.object;
  co.id = "knife";
  co.header.stamp = rclcpp::Clock().now();
  co.header.frame_id = aco.link_name;
  co.pose.orientation.w = 1.0;
  co.operation = moveit_msgs::msg::CollisionObject::ADD;
  co.primitives.resize(1);
  co.primitives[0].type = shape_msgs::msg::SolidPrimitive::BOX;
  co.primitives[0].dimensions.push_back(0.1);
  co.primitives[0].dimensions.push_back(0.1);
  co.primitives[0].dimensions.push_back(0.4);
  co.primitive_poses.resize(1);
  co.primitive_poses[0].position.x = 0.1;
  co.primitive_poses[0].position.y = 0;
  co.primitive_poses[0].position.z = -0.2;
 
  using namespace std::chrono_literals;
  pub_aco->publish(aco);
  rclcpp::sleep_for(1s);
  pub_aco->publish(aco);
  RCLCPP_INFO(node->get_logger(), "Object published.");
  rclcpp::sleep_for(1500ms);
}
 
int main(int argc, char** argv)
{
  rclcpp::init(argc, argv);
 
  auto node = rclcpp::Node::make_shared("demo_scene");
 
  sendKnife(node);
 
  rclcpp::spin(node);
 
  return 0;
}