iamrajee

#include <moveit_task_constructor_demo/pick_place_task8.h>
#include <rosparam_shortcuts/rosparam_shortcuts.h>

//---------------------------------------------------------------------------------------------------------------------------------------------//
namespace moveit_task_constructor_demo
{ 


constexpr char LOGNAME[] = "pick_place_task";

iamrajee

	// ====================== test container ====================== //
	{ 
		auto test_container = std::make_unique<Merger>("test container");
		{ 
			auto test_container2 = std::make_unique<SerialContainer>("test container2");
			// ====================== Move to Home ====================== //
			{
				auto stage = std::make_unique<stages::MoveTo>("move home", sampling_planner);
				stage->setGroup(arm_group_name_);
				stage->setGoal(arm_home_pose_);

iamrajee

	// ====================== test container ====================== //
	{ 
		auto test_container = std::make_unique<Merger>("test container");

		// ====================== Move to Home ====================== //
		{
			auto stage = std::make_unique<stages::MoveTo>("move home", sampling_planner);
			stage->setGroup(arm_group_name_);
			stage->setGoal(arm_home_pose_);
			stage->restrictDirection(stages::MoveTo::FORWARD);

iamrajee

    // ====================== Current State ====================== //
	{
		auto _current_state = std::make_unique<stages::CurrentState>("current state");
		t.add(std::move(_current_state));
	}
	// ====================== test container ====================== //
	{ 
		// auto test_container = std::make_unique<SerialContainer>("test container"); //calculate and run both serially
		// auto test_container = std::make_unique<Alternatives>("test container"); //calculate both and possible run both seperatly 
		// auto test_container = std::make_unique<Fallbacks>("test container"); //calculate and run either of

iamrajee

controller_list:
  - name: fake_panda1_arm_controller
    joints:
      - panda1_joint1
      - panda1_joint2
      - panda1_joint3
      - panda1_joint4
      - panda1_joint5
      - panda1_joint6
      - panda1_joint7

iamrajee

controller_list:
  - name: fake_panda1_arm_controller
    joints:
      - panda1_joint1
      - panda1_joint2
      - panda1_joint3
      - panda1_joint4
      - panda1_joint5
      - panda1_joint6
      - panda1_joint7

iamrajee

Starting >>> object_recognition_msgs
Starting >>> octomap_msgs
Starting >>> random_numbers
Starting >>> urdfdom_py
Starting >>> joint_state_publisher
Starting >>> ompl
Starting >>> testpkg
Starting >>> testpkg_cmake
Starting >>> testpkg_python
Finished <<< testpkg [1.60s]

iamrajee

Starting >>> object_recognition_msgs
Starting >>> octomap_msgs
Starting >>> random_numbers
Starting >>> urdfdom_py
Starting >>> joint_state_publisher
Starting >>> ompl
Starting >>> testpkg
Starting >>> testpkg_cmake
Starting >>> testpkg_python
Finished <<< testpkg [1.60s]

iamrajee

#include <rclcpp/rclcpp.hpp>

#include <chrono>
#include <cstdlib>
#include <memory>

#include <moveit_task_constructor/task.h>
#include <moveit_task_constructor/subtask.h>

#include <moveit_task_constructor/subtasks/current_state.h>

iamrajee

Starting >>> object_recognition_msgs
Starting >>> octomap_msgs
Starting >>> random_numbers
Starting >>> urdfdom_py
Starting >>> hardware_interface
Starting >>> joint_state_publisher
Starting >>> controller_parameter_server
Starting >>> ompl
Starting >>> testpkg2
Starting >>> testpkg_cmake