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This is a solution I implemented after reading several post online. It is working.

class ArmControl {
public:
    ros::NodeHandle nh_;
    string planning_group_name_;
    double POS_TOLARENCE, ANG_TOLARENCE, PLANING_TIME;
    // interface with MoveIt
    boost::scoped_ptr<move_group_interface::MoveGroup> move_group_;
    ArmControl::ArmControl() :
        nh_("~"),
        planning_group_name_("arm"),
        POS_TOLARENCE(0.01),
        ANG_TOLARENCE(0.1),
        PLANING_TIME(20.0) 
    {
    move_group_.reset(
            new move_group_interface::MoveGroup(planning_group_name_));
    move_group_->setPlanningTime(PLANING_TIME);
    move_group_->setGoalOrientationTolerance(ANG_TOLARENCE);
    move_group_->setGoalPositionTolerance(POS_TOLARENCE);
    sleep(5);
   }
  }

 int main(int argc, char **argv)
{
    ros::init(argc, argv, "arm_action_server");
    ros::NodeHandle nh;
    ros::AsyncSpinner spinner(0);
    spinner.start();

    ArmControl controller;      
    controller.moveToInitialPos();    
    ros::ServiceServer findCB_service = nh.advertiseService("find_chess_board",
                    &ArmControl::findCB, &controller);    
    ros::ServiceServer flippSW_service = nh.advertiseService("flipp_switch",
                        &ArmControl::flippSW, &controller);
    ros::waitForShutdown();
}