Grasplan base module

[jarkenau]

I think we should create a base module that handles some common initialization for the place, pick and insert actions. For example each actions needs the interfaces to MoveIt!:

grasplan/src/grasplan/place.py

Lines 113 to 125 in f628097

	try:
	rospy.loginfo('waiting for move_group action server')
	moveit_commander.roscpp_initialize(sys.argv)
	self.robot = moveit_commander.RobotCommander()
	self.robot.arm.set_planning_time(self.planning_time)
	self.robot.arm.set_goal_tolerance(arm_goal_tolerance)
	self.scene = moveit_commander.PlanningSceneInterface()
	rospy.loginfo('found move_group action server')
	except RuntimeError:
	rospy.logfatal(
	'grasplan place server could not connect to Moveit in time, exiting! \n' + traceback.format_exc()
	)
	rospy.signal_shutdown('fatal error')

grasplan/src/grasplan/pick.py

Lines 88 to 104 in f628097

	try:
	rospy.loginfo('waiting for move_group action server')
	moveit_commander.roscpp_initialize(sys.argv)
	self.robot = moveit_commander.RobotCommander()
	self.gripper = getattr(self.robot, gripper_group_name)
	self.robot.arm.set_planning_time(self.planning_time)
	self.robot.arm.set_goal_tolerance(arm_goal_tolerance)
	self.scene = moveit_commander.PlanningSceneInterface()
	rospy.loginfo('found move_group action server')
	except RuntimeError:
	# moveit_commander.roscpp_initialize overwrites the signal handler,
	# so if a RuntimeError occurs here, we have to manually call
	# signal_shutdown() in order for the node to properly exit.
	rospy.logfatal(
	'grasplan pick server could not connect to Moveit in time, exiting! \n' + traceback.format_exc()
	)
	rospy.signal_shutdown('fatal error')

a tf client etc, ....

[oscar-lima]

very good idea! we could do that with inheritance, having a (singleton?) base class that initializes the necessary modules.