Create planning_front_loader.py

[ogunasekara]

Description

The planning_front_loader node will have the following functionality:

1. Grab/release an object.
2. Move front loader to a desired pose.
3. Open/close the end effector.

High Level Design

Grab/release an object

1. Receive desired pose of the end-effector (geometry_msgs/Pose) in the robot frame (base_link) and grab/release (std_msgs/Bool).
2. Move front loader to desired pose.
3. Grab/release the object.
4. Move front loader to previous pose.
5. If movement completed, send confirmation to service caller. If timeout, send failure to service caller.

Move front loader to a desired pose

1. Receive desired pose of the end-effector (geometry_msgs/Pose) in the robot frame (base_link).
2. Transform pose from the robot frame (base_link) to the front loader frame (front_loader).
3. Perform inverse kinematics to get servo position.
4. Send command to serial node (dodobot/linear_cmd) and wait until movement has completed.
5. If movement completed, send confirmation to service caller. If timeout, send failure to service caller.

Open/close the end effector

1. Receive desired state of the end-effector (std_msgs/Bool)
2. Send command to serial node (dodobot/gripper_cmd) and wait until movement has completed.
3. If movement completed, send confirmation to service caller. If timeout, send failure to service caller.

Notes

• This node should be implemented as a three services such that it can be called when desired from other nodes.
• The static transform between base_link and front_loader must be defined in db_config/launch/static_transforms.launch

[ogunasekara]

All work on this issue will be done on branch issues/7.

[ogunasekara]

@Woz4tetra I've pushed an initial version of this node to the issues/7 branch, but I'd like some help in implementing the send_move_cmd and send_grab_cmd functions, which interface with the serial node.

[ogunasekara]

Linking to branch demo/pick_and_place