Merge pull request ros-industrial#29 from jrgnicho/issue_#27_update_d…

…emo_manipulation

Issue ros-industrial#27 update demo manipulation

README.md

@@ -4,43 +4,4 @@ industrial_training
 Training material for ROS-Industrial.
 
 
-## IO dependencies installation
-===================
-The following instructions are base on the guidelines provided in :
-https://github.com/orocos/rtt_ros_integration
-
-### Build orocos from source
-
-```shell
-export OROCOS_TARGET=gnulinux
-mkdir -p ~/ros/hydro/catkin_underlay_isolated/src/orocos
-cd ~/ros/hydro/catkin_underlay_isolated
-git clone --recursive git://gitorious.org/orocos-toolchain/orocos_toolchain.git -b toolchain-2.7 src/orocos/orocos_toolchain
-catkin_make_isolated --install
-```
-
-Then create the 'devel' directory by running the following:
-```shell
-catkin_make
-```
-
-This will fail to build since there are non-catkin packages in this repo.  This is
-ok since the 'devel' directory and the setup scripts will be created regardless.
-
-### Build rtt-ros-integration from source
-
-```shell
-mkdir -p ~/ros/hydro/catkin_underlay/src
-cd ~/ros/hydro/catkin_underlay
-git clone https://github.com/orocos/rtt_ros_integration.git src/rtt_ros_integration
-source ../catkin_underlay_isolated/devel/setup.sh
-catkin_make --jobs=2
-source devel/setup.sh
-```
-
-### Add workspace to your environment setup
-In your .bashrc script add the following line:
-
-```shell
-source "~/ros/hydro/catkin_underlay/devel/setup.sh"
 ```

training/orig/demo_manipulation/src/collision_avoidance_pick_and_place/CMakeLists.txt

@@ -0,0 +1,95 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(collision_avoidance_pick_and_place)
+
+find_package(catkin REQUIRED COMPONENTS 
+  roscpp
+  moveit_msgs
+  moveit_ros_manipulation
+  moveit_ros_move_group
+  moveit_ros_planning_interface
+  robot_io
+  object_manipulation_msgs
+  actionlib
+  industrial_robot_client
+  industrial_robot_simulator
+  std_msgs
+  shape_msgs
+  pcl_ros
+  pcl_msgs
+  tf_conversions
+	message_generation
+)
+
+include_directories(include
+  ${catkin_INCLUDE_DIRS}
+)
+
+#######################################
+## Declare ROS messages and services ##
+#######################################
+## Generate services in the 'srv' folder
+add_service_files(
+   FILES
+   GetTargetPose.srv
+)
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+	DEPENDENCIES   
+		std_msgs
+		shape_msgs
+		pcl_msgs)
+
+###################################
+## catkin specific configuration ##
+###################################
+catkin_package(
+	CATKIN_DEPENDS
+		roscpp
+		moveit_msgs
+		moveit_ros_manipulation
+		moveit_ros_move_group
+		moveit_ros_planning_interface
+		robot_io
+		object_manipulation_msgs
+		actionlib
+		industrial_robot_client
+		industrial_robot_simulator
+		std_msgs
+		shape_msgs
+		pcl_ros
+		pcl_msgs
+		tf_conversions
+		message_runtime
+)
+
+###########
+## Build ##
+###########
+
+add_executable(target_recognition_service src/services/target_recognition_service.cpp)
+add_dependencies(target_recognition_service ${PROJECT_NAME}_generate_messages_cpp)
+target_link_libraries(target_recognition_service ${catkin_LIBRARIES})
+
+add_executable(generate_cloud_node src/nodes/generate_point_cloud.cpp)
+add_dependencies(generate_cloud_node ${PROJECT_NAME}_generate_messages_cpp)
+target_link_libraries(generate_cloud_node ${catkin_LIBRARIES})
+
+add_executable(pick_and_place_node 
+	src/nodes/pick_and_place_node.cpp
+	src/tasks/move_to_wait_position.cpp
+	src/tasks/set_gripper.cpp
+	src/tasks/reset_world.cpp
+	src/tasks/set_attached_object.cpp
+	src/tasks/detect_box_pick.cpp
+	src/tasks/create_pick_moves.cpp
+  src/tasks/create_place_moves.cpp
+	src/tasks/pickup_box.cpp
+	src/tasks/place_box.cpp	
+	src/tasks/create_motion_plan.cpp
+	src/utilities/pick_and_place_utilities.cpp)
+add_dependencies(pick_and_place_node ${PROJECT_NAME}_generate_messages_cpp)
+target_link_libraries(pick_and_place_node ${catkin_LIBRARIES})
+
+
+

training/orig/demo_manipulation/src/collision_avoidance_pick_and_place/config/ur5/collision_obstacles.txt

@@ -0,0 +1,4 @@
+-t 1 -s 0.4 0.04 0.6 -p -0.9 -0.30 0.3 -f world_frame -o 0 -i object1
+-t 1 -s 0.4 0.04 0.6 -p -0.9 0.15 0.3 -f world_frame -o 0 -i object2
+-t 1 -s 0.4 0.5	 0.04 -p -0.9 -0.08 0.6 -f world_frame -o 0 -i object3
+-t 1 -s 0.04 0.5 0.6 -p -1.1 -0.10 0.3 -f world_frame -o 0 -i object4

training/ref/demo_manipulation/src/pick_and_place_exercise/config/ur5/pick_and_place_parameters.yaml → training/orig/demo_manipulation/src/collision_avoidance_pick_and_place/config/ur5/pick_and_place_parameters.yaml

@@ -1,15 +1,17 @@
 world_frame_id: world_frame
-tag_frame_id: ar_tag
+ar_frame_id: ar_tag
 arm_group_name: manipulator
 tcp_link_name: tcp_frame
+attached_object_link: attached_object_link
 wrist_link_name: ee_link
 home_pose_name: home
 wait_pose_name: wait
 approach_distance: 0.05
 retreat_distance: 0.05
-box_width: 0.1
-box_length: 0.1
+box_length: 0.17
+box_width: 0.17
 box_height: 0.17
-box_place_x: -0.8
-box_place_y: -0.2
+box_place_x: -0.4
+box_place_y: 0.6
 box_place_z: 0.17
+touch_links: [wrist_1_link, wrist_2_link, wrist_3_link, tcp_frame]