public PlanningOptions(PlanningScene planning_scene_diff, bool plan_only, bool look_around, int look_around_attempts, double max_safe_execution_cost, bool replan, int replan_attempts, double replan_delay)
{
this.planning_scene_diff = planning_scene_diff;
this.plan_only = plan_only;
this.look_around = look_around;
this.look_around_attempts = look_around_attempts;
this.max_safe_execution_cost = max_safe_execution_cost;
this.replan = replan;
this.replan_attempts = replan_attempts;
this.replan_delay = replan_delay;
}
// this gets called when we're connected to the master
async void Start()
{
Uri masterUri = new Uri("http://141.3.59.5:11311");
Uri myUri = RosClient.TryGetCallerUriFor(masterUri, 7635) ?? RosClient.TryGetCallerUri(7635);
connectionClient = await RosClient.CreateAsync(masterUri, "/iviz_test", myUri);
scenePublisher = new RosChannelWriter <PlanningScene> {
LatchingEnabled = true
};
await scenePublisher.StartAsync(connectionClient, "/move_group/monitored_planning_scene");
//Logger.LogDebug = Debug.Log;
Logger.Log = Debug.Log;
Logger.LogError = Debug.LogWarning;
Debug.Log($"{this}: Connected!");
while (true)
{
if (this == null)
{
return;
}
// keep checking whether the moveit_test node is on
const string trajectoryService = "/moveit_test/calculate_trajectory";
var systemState = await connectionClient.GetSystemStateAsync();
bool hasService = systemState.Services.Any(service => service.Topic == trajectoryService);
if (hasService)
{
break;
}
Debug.LogWarning($"{this}: Service not detected! Retrying...");
await Task.Delay(2000);
}
Debug.Log($"{this}: Service found. Starting robot and listeners.");
// generate two robots: 'robot' for the real robot, and 'planRobot' for the plan
await GenerateRobotAsync();
// start listening to the joints topic
// these joints apply only for 'robot'.
jointsListener = new RosChannelReader <JointState>();
await jointsListener.StartAsync(connectionClient, "/joint_states");
// here we create a new collision object for the scene
PlanningScene scene = new PlanningScene();
scene.Name = "(noname+)"; // taken from rviz
scene.World.CollisionObjects = new[]
public GetPlanningSceneResponse(PlanningScene scene)
{
this.scene = scene;
}
public GetPlanningSceneResponse()
{
this.scene = new PlanningScene();
}
public ApplyPlanningSceneRequest(PlanningScene scene)
{
this.scene = scene;
}
public ApplyPlanningSceneRequest()
{
this.scene = new PlanningScene();
}
