cp_grasping_objects.hpp

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// Copyright 2021 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
/*****************************************************************************************************************
 *
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 *****************************************************************************************************************/
 
#pragma once
 
#include <map>
#include <moveit_msgs/msg/collision_object.hpp>
#include <smacc2/component.hpp>
#include <smacc2/smacc.hpp>
 
namespace cl_moveit2z
{
class CpGraspingComponent : public smacc2::ISmaccComponent
{
private:
  std::map<std::string, moveit_msgs::msg::CollisionObject> graspingObjects;
 
public:
  std::vector<std::string> fingerTipNames;
  std::string gripperLink_ = "gripper_link";
 
  std::optional<std::string> currentAttachedObjectName;
 
  inline bool getGraspingObject(std::string name, moveit_msgs::msg::CollisionObject & object)
  {
    if (this->graspingObjects.count(name))
    {
      object = this->graspingObjects[name];
      return true;
    }
    else
    {
      return false;
    }
  }
 
  inline void createGraspableBox(
    std::string frameid, float x, float y, float z, float xl, float yl, float zl)
  {
    RCLCPP_INFO_STREAM(
      getLogger(), "[" << getName() << "] creating grasping object in planning scene: " << frameid);
    moveit_msgs::msg::CollisionObject collision;
    auto boxname = frameid;
    ;
    collision.id = boxname;
    collision.header.frame_id = frameid;
 
    collision.primitives.resize(1);
    collision.primitives[0].type = collision.primitives[0].BOX;
    collision.primitives[0].dimensions.resize(3);
 
    collision.primitives[0].dimensions[0] = xl;
    collision.primitives[0].dimensions[1] = yl;
    collision.primitives[0].dimensions[2] = zl;
 
    collision.primitive_poses.resize(1);
    collision.primitive_poses[0].position.x = x;
    collision.primitive_poses[0].position.y = y;
    collision.primitive_poses[0].position.z = z;
    collision.primitive_poses[0].orientation.w = 1.0;
 
    graspingObjects[boxname] = collision;
  }
};
 
}  // namespace cl_moveit2z