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[moveit] create the compute_ik and apply_planning_scene service's args #496

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[moveit] create the compute_ik and apply_planning_scene service's args #496

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7 changes: 5 additions & 2 deletions pr2eus_moveit/euslisp/robot-moveit.l
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Original file line number Diff line number Diff line change
Expand Up @@ -64,6 +64,8 @@
((:query-planner-interface-service qr-pl-srv) "/query_planner_interface")
((:planning-scene-world pl-sc-world) "/planning_scene_world")
((:state-validity-service sv-srv) "/check_state_validity")
((:compute-ik-service cm-ik-srv) "/compute_ik")
((:apply-planning-scene-service ap-ps-srv) "/apply_planning_scene")
((:robot rb)) (frame-id) ;; frame-id needs to be contained in robot_model
((:planner-id pl-id) "RRTConnectkConfigDefault")
(multi-dof-joint-name "virtual_joint")
Expand All @@ -85,6 +87,7 @@
default-planner-id pl-id
multi-dof-name multi-dof-joint-name
multi-dof-frame multi-dof-frame-id)
(instance collision-object-publisher :init :service-name ap-ps-srv :scene-service scene-service)
(ros::advertise planning-scene-world-topic moveit_msgs::PlanningSceneWorld)
(setq default-link (send self :search-link-from-name frame-id))
(setq config-list (send self :default-configuration))
Expand Down Expand Up @@ -199,11 +202,11 @@
:attempts (if attempts attempts 0)
:timeout (ros::time timeout)
:pose_stamped msg)))
(res (ros::service-call "/compute_ik" req)))
(res (ros::service-call cm-ik-srv req)))
(when (and retry (/= (send res :error_code :val) 1))
(send req :ik_request :attempts (if attempts (* 2 attempts) 2))
(send req :ik_request :timeout (ros::time (* 2 timeout)))
(setq res (ros::service-call "/compute_ik" req)))
(setq res (ros::service-call cm-ik-srv req)))
(cond
((= (send res :error_code :val) 1) ;; success
(apply-joint_state (send res :solution :joint_state) robot)) ;; updates joint-list
Expand Down
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