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update grab_server

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This commit is contained in:
zhangwanjie 2020-11-05 18:03:45 +08:00
parent c77c5ca3dc
commit 15e323f5ed
1 changed files with 78 additions and 77 deletions
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155
wpb_home_behaviors/src/wpb_home_grab_server.cpp
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@ -565,83 +565,6 @@ void ProcCloudCB(const sensor_msgs::PointCloud2 &input)
result_msg.data = "find objects"; result_msg.data = "find objects";
result_pub.publish(result_msg); result_pub.publish(result_msg);
} }
//5、抬起手臂
if(nStep == STEP_HAND_UP)
{
if(nTimeDelayCounter == 0)
{
mani_ctrl_msg.position[0] = fPlaneHeight + grab_lift_offset;
mani_ctrl_msg.position[1] = 0.16;
mani_ctrl_pub.publish(mani_ctrl_msg);
ROS_WARN("[MANI_CTRL] lift= %.2f gripper= %.2f " ,mani_ctrl_msg.position[0], mani_ctrl_msg.position[1]);
result_msg.data = "hand up";
result_pub.publish(result_msg);
}
nTimeDelayCounter ++;
VelCmd(0,0,0);
if(nTimeDelayCounter > 50)
{
fMoveTargetX = fObjGrabX -0.55 + grab_forward_offset;
fMoveTargetY = 0;
ROS_WARN("[STEP_FORWARD] x = %.2f y= %.2f " ,fMoveTargetX, fMoveTargetY);
nTimeDelayCounter = 0;
nStep = STEP_FORWARD;
}
}
//7、抓取物品
if(nStep == STEP_GRAB)
{
if(nTimeDelayCounter == 0)
{
result_msg.data = "grab";
result_pub.publish(result_msg);
}
mani_ctrl_msg.position[1] = grab_gripper_value; //抓取物品手爪闭合宽度
mani_ctrl_pub.publish(mani_ctrl_msg);
//ROS_WARN("[MANI_CTRL] lift= %.2f gripper= %.2f " ,mani_ctrl_msg.position[0], mani_ctrl_msg.position[1]);
nTimeDelayCounter++;
VelCmd(0,0,0);
if(nTimeDelayCounter > 30)
{
nTimeDelayCounter = 0;
nStep = STEP_OBJ_UP;
}
}
//8、拿起物品
if(nStep == STEP_OBJ_UP)
{
if(nTimeDelayCounter == 0)
{
mani_ctrl_msg.position[0] += 0.03;
mani_ctrl_pub.publish(mani_ctrl_msg);
//ROS_WARN("[MANI_CTRL] lift= %.2f gripper= %.2f " ,mani_ctrl_msg.position[0], mani_ctrl_msg.position[1]);
result_msg.data = "object up";
result_pub.publish(result_msg);
}
nTimeDelayCounter++;
VelCmd(0,0,0);
if(nTimeDelayCounter > 10)
{
fMoveTargetX = -(fTargetGrabX-0.4);
fMoveTargetY = 0;
//ROS_WARN("[STEP_BACKWARD] x= %.2f y= %.2f " ,fMoveTargetX, fMoveTargetY);
nTimeDelayCounter = 0;
nStep = STEP_BACKWARD;
}
}
//10、抓取任务完毕
if(nStep == STEP_DONE)
{
result_msg.data = "done";
result_pub.publish(result_msg);
nTimeOut = 0;
nStep = STEP_WAIT;
}
} }
void PoseDiffCallback(const geometry_msgs::Pose2D::ConstPtr& msg) void PoseDiffCallback(const geometry_msgs::Pose2D::ConstPtr& msg)
@ -878,6 +801,30 @@ int main(int argc, char **argv)
result_pub.publish(result_msg); result_pub.publish(result_msg);
} }
//5、抬起手臂
if(nStep == STEP_HAND_UP)
{
if(nTimeDelayCounter == 0)
{
mani_ctrl_msg.position[0] = fPlaneHeight + grab_lift_offset;
mani_ctrl_msg.position[1] = 0.16;
mani_ctrl_pub.publish(mani_ctrl_msg);
ROS_WARN("[MANI_CTRL] lift= %.2f gripper= %.2f " ,mani_ctrl_msg.position[0], mani_ctrl_msg.position[1]);
result_msg.data = "hand up";
result_pub.publish(result_msg);
}
nTimeDelayCounter ++;
VelCmd(0,0,0);
if(nTimeDelayCounter > 15*30)
{
fMoveTargetX = fObjGrabX -0.55 + grab_forward_offset;
fMoveTargetY = 0;
ROS_WARN("[STEP_FORWARD] x = %.2f y= %.2f " ,fMoveTargetX, fMoveTargetY);
nTimeDelayCounter = 0;
nStep = STEP_FORWARD;
}
}
//6、前进靠近物品 //6、前进靠近物品
if(nStep == STEP_FORWARD) if(nStep == STEP_FORWARD)
{ {
@ -901,6 +848,51 @@ int main(int argc, char **argv)
result_pub.publish(result_msg); result_pub.publish(result_msg);
} }
//7、抓取物品
if(nStep == STEP_GRAB)
{
if(nTimeDelayCounter == 0)
{
result_msg.data = "grab";
result_pub.publish(result_msg);
}
mani_ctrl_msg.position[1] = grab_gripper_value; //抓取物品手爪闭合宽度
mani_ctrl_pub.publish(mani_ctrl_msg);
//ROS_WARN("[MANI_CTRL] lift= %.2f gripper= %.2f " ,mani_ctrl_msg.position[0], mani_ctrl_msg.position[1]);
nTimeDelayCounter++;
VelCmd(0,0,0);
if(nTimeDelayCounter > 8*30)
{
nTimeDelayCounter = 0;
nStep = STEP_OBJ_UP;
}
}
//8、拿起物品
if(nStep == STEP_OBJ_UP)
{
if(nTimeDelayCounter == 0)
{
mani_ctrl_msg.position[0] += 0.03;
mani_ctrl_pub.publish(mani_ctrl_msg);
//ROS_WARN("[MANI_CTRL] lift= %.2f gripper= %.2f " ,mani_ctrl_msg.position[0], mani_ctrl_msg.position[1]);
result_msg.data = "object up";
result_pub.publish(result_msg);
}
nTimeDelayCounter++;
VelCmd(0,0,0);
if(nTimeDelayCounter > 3*30)
{
fMoveTargetX = -(fTargetGrabX-0.4);
fMoveTargetY = 0;
//ROS_WARN("[STEP_BACKWARD] x= %.2f y= %.2f " ,fMoveTargetX, fMoveTargetY);
nTimeDelayCounter = 0;
nStep = STEP_BACKWARD;
}
}
//9、带着物品后退 //9、带着物品后退
if(nStep == STEP_BACKWARD) if(nStep == STEP_BACKWARD)
{ {
@ -927,6 +919,15 @@ int main(int argc, char **argv)
result_pub.publish(result_msg); result_pub.publish(result_msg);
} }
//10、抓取任务完毕
if(nStep == STEP_DONE)
{
result_msg.data = "done";
result_pub.publish(result_msg);
nTimeOut = 0;
nStep = STEP_WAIT;
}
ros::spinOnce(); ros::spinOnce();
r.sleep(); r.sleep();
} }