54 lines
1.7 KiB
C++
54 lines
1.7 KiB
C++
#include <ros/ros.h>
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#include <eigen3/Eigen/Dense>
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#include <opencv2/core/core.hpp>
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#include "poppy_ros/ik.h" // Replace with the actual path to the service header file
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// Assuming Kinematics is a class that encapsulates inverse kinematics calculations
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class Kinematics {
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public:
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Eigen::VectorXd inverseKinematics(const Eigen::Matrix4d &target_transform) {
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// Placeholder for IK calculation
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// Return the calculated joint values as Eigen::VectorXd
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}
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// Additional methods to load DH parameters and IK configurations
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void loadDHParameters(/* parameters */) {
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// Load DH parameters
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}
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void loadIKConfigurations(/* parameters */) {
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// Load IK configurations
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}
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};
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Kinematics kinematics;
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bool ikServiceCallback(poppy_ros::ik::Request &req, poppy_ros::ik::Response &res) {
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// Convert ROS message types to Eigen types
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Eigen::Matrix4d target_transform;
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// Assuming that req.position and req.orientation need to be converted to a 4x4 transformation matrix
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// You'll need to implement this conversion based on your specific requirements
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Eigen::VectorXd joint_values = kinematics.inverseKinematics(target_transform);
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// Convert Eigen::VectorXd to std_msgs::Float64MultiArray
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res.joint_values.data = std::vector<double>(joint_values.data(), joint_values.data() + joint_values.size());
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return true;
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}
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int main(int argc, char** argv) {
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ros::init(argc, argv, "ik_server");
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ros::NodeHandle nh;
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// Load DH and IK parameters into kinematics object
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// kinematics.loadDHParameters(...);
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// kinematics.loadIKConfigurations(...);
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ros::ServiceServer service = nh.advertiseService("ik", ikServiceCallback);
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ROS_INFO("IK Server Ready.");
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ros::spin();
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return 0;
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}
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