Bill Finger
c0842b0da8
- Modified GetPose service node to accept relative positioning - Added new GetPlacePoses service node for retrieving place, preplace, and postplace poses
89 lines
3.3 KiB
C++
89 lines
3.3 KiB
C++
#include "behaviortree_ros2/bt_service_node.hpp"
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#include "behaviortree_ros2/plugins.hpp"
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#include <behaviortree_cpp/basic_types.h>
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// #include <geometry_msgs/msg/detail/point__struct.hpp>
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#include "rbs_skill_interfaces/srv/get_pick_place_poses.hpp"
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// #include "rbs_mill_interfaces"
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// #include "rbs_mill_interfaces/srv/get_slot_grasping_pose.hpp"
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#include "rbs_mill_interfaces/srv/get_grasping_pose.hpp"
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#include <geometry_msgs/msg/detail/pose__struct.hpp>
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#include <geometry_msgs/msg/detail/pose_array__struct.hpp>
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#include <geometry_msgs/msg/detail/quaternion__struct.hpp>
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#include <memory>
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// #include <rbs_utils_interfaces/srv/detail/get_grasp_pose__struct.hpp>
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#include <rclcpp/logging.hpp>
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#include <string>
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using GraspingService = rbs_mill_interfaces::srv::GetGraspingPose;
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using namespace BT;
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class GetGraspPose : public RosServiceNode<GraspingService> {
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public:
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GetGraspPose(const std::string &name, const NodeConfig &conf,
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const RosNodeParams ¶ms)
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: RosServiceNode<GraspingService>(name, conf, params) {
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RCLCPP_INFO(this->logger(), "Starting GetSlotGraspingPose");
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}
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static PortsList providedPorts() {
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return providedBasicPorts(
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{InputPort<std::string>("from_pose"),
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InputPort<std::string>("relative_to"),
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OutputPort<std::shared_ptr<geometry_msgs::msg::Pose>>("grasp"),
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OutputPort<std::shared_ptr<geometry_msgs::msg::Pose>>("pregrasp"),
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OutputPort<std::shared_ptr<geometry_msgs::msg::Pose>>("postgrasp")});
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}
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bool setRequest(Request::SharedPtr &request) override {
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RCLCPP_INFO(this->logger(), "[%s] Starting send request for: [%s]",
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name().c_str(), this->service_name_.c_str());
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if (!getInput("from_pose", request->pose_name)) {
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RCLCPP_ERROR(this->node_.lock()->get_logger(),
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"[%s] Failed to get slot_name from input port",
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name().c_str());
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return false;
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}
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if (!getInput("relative_to", request->relative_to)) {
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RCLCPP_ERROR(this->node_.lock()->get_logger(),
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"[%s] Failed to get relative_to from input port",
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name().c_str());
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return false;
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}
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request->action_type = "pick";
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return true;
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}
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NodeStatus onResponseReceived(const Response::SharedPtr &response) override {
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if (!response->ok) {
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RCLCPP_ERROR(this->node_.lock()->get_logger(),
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"[%s] Response indicates failure.", name().c_str());
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return NodeStatus::FAILURE;
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}
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RCLCPP_INFO(this->node_.lock()->get_logger(),
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"[%s] Response received successfully.", name().c_str());
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auto grasp =
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std::make_shared<geometry_msgs::msg::Pose>(response->grasp_poses.pose);
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auto pregrasp = std::make_shared<geometry_msgs::msg::Pose>(
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response->grasp_poses.pre_pose);
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auto postgrasp = std::make_shared<geometry_msgs::msg::Pose>(
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response->grasp_poses.post_pose);
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if (!grasp || !pregrasp || !postgrasp) {
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RCLCPP_ERROR(this->logger(), "[%s] Response poses are empty",
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name().c_str());
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return NodeStatus::FAILURE;
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}
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setOutput("grasp", grasp);
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setOutput("pregrasp", pregrasp);
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setOutput("postgrasp", postgrasp);
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return NodeStatus::SUCCESS;
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}
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// virtual NodeStatus onFailure(ServiceNodeErrorCode error) override {}
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};
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CreateRosNodePlugin(GetGraspPose, "GetSlotGraspPoses");
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