or_arm.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.
 
#pragma once
 
#include <chrono>
 
#include <move_group_interface_client/cl_movegroup.hpp>
#include <move_group_interface_client/components/cp_trajectory_history.hpp>
#include <move_group_interface_client/components/cp_grasping_objects.hpp>
 
#include "ros_timer_client/cl_ros_timer.hpp"
#include "smacc2/smacc.hpp"
 
namespace sm_test_moveit_ur5_sim
{
using namespace std::chrono_literals;
 
class OrArm : public smacc2::Orthogonal<OrArm>
{
public:
  void onInitialize() override
  {
    auto move_group_client = this->createClient<cl_move_group_interface::ClMoveGroup>("ur_manipulator"); //ur_manipulator
    move_group_client->createComponent<cl_move_group_interface::CpTrajectoryHistory>();
    auto graspingComponent = move_group_client->createComponent<cl_move_group_interface::CpGraspingComponent>();
 
    graspingComponent->gripperLink_="tool0";
    graspingComponent->createGraspableBox("virtualBox", 0,0.5,0.5,0.1,0.1,0.1);
  }
};
}  // namespace sm_test_moveit_ur5_sim