Added rosnode for mouving the robot
This commit is contained in:
parent
cfc811f636
commit
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cmake_minimum_required(VERSION 3.0.2)
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project(poppy_ros)
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## Compile as C++11, supported in ROS Kinetic and newer
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# add_compile_options(-std=c++11)
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set (OpenCV_DIR "/usr/lib/opencv")
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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rospy
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std_msgs
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message_generation
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)
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find_package(OpenCV REQUIRED COMPONENTS
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core
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)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend tag for "message_generation"
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## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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## but can be declared for certainty nonetheless:
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## * add a exec_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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# add_message_files(
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# FILES
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# Message1.msg
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# Message2.msg
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# )
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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add_service_files(
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FILES
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ik.srv
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)
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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# generate_messages(
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# DEPENDENCIES
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# std_msgs
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# )
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generate_messages(
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DEPENDENCIES
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std_msgs
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)
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################################################
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## Declare ROS dynamic reconfigure parameters ##
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################################################
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## To declare and build dynamic reconfigure parameters within this
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## package, follow these steps:
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## * In the file package.xml:
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|
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
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|
## * In this file (CMakeLists.txt):
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|
## * add "dynamic_reconfigure" to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options(
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# cfg/DynReconf1.cfg
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# cfg/DynReconf2.cfg
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# )
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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|
## Declare things to be passed to dependent projects
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|
## INCLUDE_DIRS: uncomment this if your package contains header files
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|
## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES poppy_ros
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CATKIN_DEPENDS roscpp rospy std_msgs
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#DEPENDS system_lib
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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include_directories(
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/home/lucas/toolkit-dynamixel/include
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/home/lucas/toolkit-kinematics/include
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/home/lucas/toolkit-dynamixel
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/home/lucas/toolkit-kinematics
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${OpenCV_INCLUDE_DIRS}
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/home/lucas/eigen/Eigen/include
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/home/lucas/eigen/Eigen
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${catkin_INCLUDE_DIRS}
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)
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## Declare a C++ library
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# add_library(${PROJECT_NAME}
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# src/${PROJECT_NAME}/poppy_ros.cpp
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# )
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## Add cmake target dependencies of the library
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## as an example, code may need to be generated before libraries
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## either from message generation or dynamic reconfigure
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# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Declare a C++ executable
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## With catkin_make all packages are built within a single CMake context
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## The recommended prefix ensures that target names across packages don't collide
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# add_executable(${PROJECT_NAME}_node src/poppy_ros_node.cpp)
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add_executable(poppy_ros src/poppy_ros.cpp /home/lucas/toolkit-dynamixel/src/DynamixelHandler.cpp)
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add_executable(poppy_test src/poppy_test.cpp)
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add_executable(poppy_pong_iv src/poppy_pong_iv.cpp)
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add_executable(ik_server src/ik_server.cpp /home/lucas/toolkit-kinematics/src/Kinematics.cpp /home/lucas/toolkit-kinematics/src/RotationMatrix.cpp /home/lucas/toolkit-kinematics/src/TranslationMatrix.cpp /home/lucas/toolkit-kinematics/src/TransformationMatrix.cpp)
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add_executable(ik_client src/ik_client.cpp)
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add_executable(sim_poppy_joint src/sim_poppy_joint.cpp)
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## Rename C++ executable without prefix
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## The above recommended prefix causes long target names, the following renames the
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## target back to the shorter version for ease of user use
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## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
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# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
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## Add cmake target dependencies of the executable
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## same as for the library above
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# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Specify libraries to link a library or executable target against
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# target_link_libraries(${PROJECT_NAME}_node
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# ${catkin_LIBRARIES}
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# )
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target_link_libraries(poppy_ros dxl_x64_cpp rt ${catkin_LIBRARIES})
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target_link_libraries(poppy_test ${catkin_LIBRARIES})
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target_link_libraries(poppy_pong_iv ${catkin_LIBRARIES})
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target_link_libraries(ik_server ${catkin_LIBRARIES} ${OpenCV_LIBS})
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target_link_libraries(ik_client ${catkin_LIBRARIES})
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target_link_libraries(sim_poppy_joint ${catkin_LIBRARIES})
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# catkin_install_python(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables for installation
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## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
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# install(TARGETS ${PROJECT_NAME}_node
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark libraries for installation
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## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
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# install(TARGETS ${PROJECT_NAME}
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
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# )
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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||||||
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_poppy_ros.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)
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<?xml version="1.0"?>
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<package format="2">
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<name>poppy_ros</name>
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<version>0.0.0</version>
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<description>The poppy_ros package</description>
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<!-- One maintainer tag required, multiple allowed, one person per tag -->
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<!-- Example: -->
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||||||
|
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
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<maintainer email="lucas@todo.todo">lucas</maintainer>
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||||||
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<!-- One license tag required, multiple allowed, one license per tag -->
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<!-- Commonly used license strings: -->
|
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<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
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<license>TODO</license>
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<!-- Url tags are optional, but multiple are allowed, one per tag -->
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<!-- Optional attribute type can be: website, bugtracker, or repository -->
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<!-- Example: -->
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<!-- <url type="website">http://wiki.ros.org/poppy_ros</url> -->
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<!-- Author tags are optional, multiple are allowed, one per tag -->
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<!-- Authors do not have to be maintainers, but could be -->
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<!-- Example: -->
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<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
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<!-- The *depend tags are used to specify dependencies -->
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<!-- Dependencies can be catkin packages or system dependencies -->
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<!-- Examples: -->
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<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
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<!-- <depend>roscpp</depend> -->
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<!-- Note that this is equivalent to the following: -->
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<!-- <build_depend>roscpp</build_depend> -->
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<!-- <exec_depend>roscpp</exec_depend> -->
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<!-- Use build_depend for packages you need at compile time: -->
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<!-- <build_depend>message_generation</build_depend> -->
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<!-- Use build_export_depend for packages you need in order to build against this package: -->
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<!-- <build_export_depend>message_generation</build_export_depend> -->
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<!-- Use buildtool_depend for build tool packages: -->
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<!-- <buildtool_depend>catkin</buildtool_depend> -->
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<!-- Use exec_depend for packages you need at runtime: -->
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<!-- <exec_depend>message_runtime</exec_depend> -->
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<!-- Use test_depend for packages you need only for testing: -->
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<!-- <test_depend>gtest</test_depend> -->
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<!-- Use doc_depend for packages you need only for building documentation: -->
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<!-- <doc_depend>doxygen</doc_depend> -->
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>roscpp</build_depend>
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<build_depend>rospy</build_depend>
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<build_depend>std_msgs</build_depend>
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<build_depend>message_generation</build_depend>
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<build_export_depend>roscpp</build_export_depend>
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<build_export_depend>rospy</build_export_depend>
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<build_export_depend>std_msgs</build_export_depend>
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<exec_depend>message_runtime</exec_depend>
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<exec_depend>roscpp</exec_depend>
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<exec_depend>rospy</exec_depend>
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<exec_depend>std_msgs</exec_depend>
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<!-- The export tag contains other, unspecified, tags -->
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<export>
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||||||
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<!-- Other tools can request additional information be placed here -->
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</export>
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</package>
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#include <iostream>
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#include "ros/ros.h"
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#include "poppy_ros/ik.h"
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#include "geometry_msgs/Twist.h"
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int main(int argc, char** argv)
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{
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ros::init(argc, argv, "ik_client");
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ros::NodeHandle nh;
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ros::ServiceClient client = nh.serviceClient<poppy_ros::ik>("ik");
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ros::Publisher joint_cmd_pub = nh.advertise<geometry_msgs::Twist>("/joint_cmd", 1);
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poppy_ros::ik srv;
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srv.request.x = atoll(argv[1]);
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srv.request.y = atoll(argv[2]);
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srv.request.z = atoll(argv[3]);
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if (client.call(srv))
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{
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// Assuming joint values are to be published as a geometry_msgs::Twist message
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geometry_msgs::Twist joint_cmd;
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joint_cmd.linear.x = srv.response.joints[0];
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joint_cmd.linear.y = srv.response.joints[1];
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joint_cmd.linear.z = srv.response.joints[2];
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joint_cmd.angular.x = srv.response.joints[3];
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joint_cmd.angular.y = srv.response.joints[4];
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joint_cmd.angular.z = srv.response.joints[5];
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joint_cmd_pub.publish(joint_cmd);
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ROS_INFO("Command passed");
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} else {
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ROS_ERROR("Failed to call service ik_service");
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}
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return 0;
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}
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#include "ros/ros.h"
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#include "poppy_ros/ik.h"
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#include "Kinematics.h"
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#include <opencv2/opencv.hpp>
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Kinematics kinematics;
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bool ProcessIK(poppy_ros::ik::Request &req, poppy_ros::ik::Response &res) {
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// Create a cv::Mat for Cartesian coordinates
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||||||
|
cv::Mat cartesian_coords = (cv::Mat_<double>(3, 1) << req.x, req.y, req.z);
|
||||||
|
|
||||||
|
// Create a cv::Mat for joint values
|
||||||
|
cv::Mat joint_values;
|
||||||
|
|
||||||
|
// Perform inverse kinematics calculations and get the result directly
|
||||||
|
kinematics.inverseKinematics(cartesian_coords);
|
||||||
|
|
||||||
|
// Get the joint values after inverse kinematics
|
||||||
|
joint_values = kinematics.computeCurrentEndEffectorPosition();
|
||||||
|
|
||||||
|
|
||||||
|
// Set the response
|
||||||
|
if (!joint_values.empty()) {
|
||||||
|
// Convert cv::Mat to std::vector<double>
|
||||||
|
std::vector<double> joint_values_vector(joint_values.begin<double>(), joint_values.end<double>());
|
||||||
|
|
||||||
|
// Set the response
|
||||||
|
res.joints = joint_values_vector;
|
||||||
|
return true;
|
||||||
|
} else {
|
||||||
|
ROS_ERROR("Inverse kinematics calculation failed.");
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
int main(int argc, char** argv)
|
||||||
|
{
|
||||||
|
ros::init(argc, argv, "ik_server");
|
||||||
|
ros::NodeHandle nh;
|
||||||
|
|
||||||
|
//load to the kinematics lib
|
||||||
|
kinematics.loadDHParameters("/home/lucas/catkin_ws/src/poppy_ros/src/poppy_dh.yaml");
|
||||||
|
kinematics.loadIKParameters("/home/lucas/catkin_ws/src/poppy_ros/src/poppy_ik.yaml");
|
||||||
|
|
||||||
|
ros::ServiceServer server = nh.advertiseService("ik", ProcessIK);
|
||||||
|
ros::spin();
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
@ -0,0 +1,11 @@
|
||||||
|
%YAML:1.0
|
||||||
|
---
|
||||||
|
dhThetaParams: [ 0., 0., 0., 0., 0., 0., 0. ]
|
||||||
|
dhDParams: [ 2.5000000000000000e+00, 2.5000000000000000e+00, 0., 0., 0.,
|
||||||
|
0., 0. ]
|
||||||
|
dhAParams: [ 0., 0., 5.5000000000000000e+00, 3., 0., 5., 12. ]
|
||||||
|
dhAlphaParams: [ 0., 90., 0., 0., -90., 90., 0. ]
|
||||||
|
jointType: [ 0, 1, 1, 1, 0, 1, 1 ]
|
||||||
|
nbJoints: 5
|
||||||
|
jointOffset: [ 0., 0., 90., 0., -90., 0., 0. ]
|
||||||
|
qiValues: [ 0., 0., 0., 0., 90. ]
|
||||||
|
|
@ -0,0 +1,6 @@
|
||||||
|
%YAML:1.0
|
||||||
|
---
|
||||||
|
maxNbIterations: 1000
|
||||||
|
pController: 0.5
|
||||||
|
rankThreshold: 0.2
|
||||||
|
distanceThreshold: 0.01
|
||||||
|
|
@ -0,0 +1,104 @@
|
||||||
|
#include "ros/ros.h"
|
||||||
|
#include "geometry_msgs/Twist.h"
|
||||||
|
#include "std_msgs/Float32MultiArray.h"
|
||||||
|
#include <array> // Inclure la bibliothèque std::array pour déclarer des tableaux statiques
|
||||||
|
#include <cmath> // Inclure la bibliothèque cmath pour atan2
|
||||||
|
|
||||||
|
// Global variables
|
||||||
|
float _fps = 10.0f; // Hz
|
||||||
|
|
||||||
|
int _nbJoints = 6;
|
||||||
|
float _minJointCmd = 0;
|
||||||
|
float _maxJointCmd = 1023;
|
||||||
|
float _minJointAngle = -180.0f;
|
||||||
|
float _maxJointAngle = 180.0f;
|
||||||
|
float L1 = 25;
|
||||||
|
float L2 = 25;
|
||||||
|
// create vector unit 16_t
|
||||||
|
std::vector<uint16_t> jointVec;
|
||||||
|
|
||||||
|
|
||||||
|
std::array<float, 2> get_q2(float x, float y)
|
||||||
|
{
|
||||||
|
std::array<float, 2> q2; // Déclarer un tableau statique de 2 éléments de type float
|
||||||
|
q2[0] = (x * x + y * y - L1 * L1 - L2 * L2) / (2 * L1 * L2);
|
||||||
|
q2[1] = -(x * x + y * y - L1 * L1 - L2 * L2) / (2 * L1 * L2);
|
||||||
|
|
||||||
|
return q2;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
std::array<float, 2> get_q1(float x, float y)
|
||||||
|
{
|
||||||
|
std::array<float, 2> q1;
|
||||||
|
std::array<float, 2> q2 = get_q2(x, y);
|
||||||
|
|
||||||
|
q1[0] = atan2(y, x) - atan2(L2 * sin(q2[0]), L1 + L2 * cos(q2[0]));
|
||||||
|
q1[1] = atan2(y, x) - atan2(L2 * sin(q2[1]), L1 + L2 * cos(q2[1]));
|
||||||
|
|
||||||
|
return q1;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
void jointCMDCallback(const std_msgs/Float32MultiArray& pos_cmd)
|
||||||
|
{
|
||||||
|
jointVec.clear();
|
||||||
|
jointVec.push_back(convertPosToJointCmd(joint_cmd.linear.y));
|
||||||
|
}
|
||||||
|
|
||||||
|
int main(int argc, char** argv)
|
||||||
|
{
|
||||||
|
// create a node called poppy_ros
|
||||||
|
ros::init(argc, argv, "poppy_ros_pos");
|
||||||
|
//ros::init(argc, argv, "autopilot");
|
||||||
|
|
||||||
|
// create a node handle
|
||||||
|
ros::NodeHandle nh;
|
||||||
|
|
||||||
|
// create a publisher to joint_position topic
|
||||||
|
_jointPositionPublisher = nh.advertise<geometry_msgs::Twist>("joint_position", 1);
|
||||||
|
|
||||||
|
//create a subscriber
|
||||||
|
ros::Subscriber sub = nh.subscribe("position_cmd",1, posCMDCallback);
|
||||||
|
|
||||||
|
// create a loop rate
|
||||||
|
ros::Rate loopRate(_fps);
|
||||||
|
|
||||||
|
// create a Twist message
|
||||||
|
geometry_msgs::Twist jointPositionMsg;
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
ROS_INFO("===Launching Poppy node===");
|
||||||
|
|
||||||
|
// loop until Ctrl+C is pressed or ROS connectivity issues
|
||||||
|
while(ros::ok())
|
||||||
|
{
|
||||||
|
//===RETRIEVE Dynamixel Motor positions====
|
||||||
|
std::vector<uint16_t> l_vCurrentJointPosition;
|
||||||
|
bool bIsReadSuccessfull = _oDxlHandler.readCurrentJointPosition(l_vCurrentJointPosition);
|
||||||
|
|
||||||
|
// stores them into a msg
|
||||||
|
if (bIsReadSuccessfull)
|
||||||
|
{
|
||||||
|
jointPositionMsg.linear.x = l_vCurrentJointPosition[0];
|
||||||
|
jointPositionMsg.linear.y = l_vCurrentJointPosition[1];
|
||||||
|
jointPositionMsg.linear.z = l_vCurrentJointPosition[2];
|
||||||
|
jointPositionMsg.angular.x = l_vCurrentJointPosition[3];
|
||||||
|
}
|
||||||
|
|
||||||
|
// publish the Twist message to the joint_position topic
|
||||||
|
_jointPositionPublisher.publish(jointPositionMsg);
|
||||||
|
|
||||||
|
// spin once to let the process handle callback ad key stroke
|
||||||
|
ros::spinOnce();
|
||||||
|
|
||||||
|
// sleep the right amout of time to comply with _fps
|
||||||
|
loopRate.sleep();
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,107 @@
|
||||||
|
#include "ros/ros.h"
|
||||||
|
#include "geometry_msgs/Twist.h"
|
||||||
|
#include "DynamixelHandler.h"
|
||||||
|
|
||||||
|
// Global variables
|
||||||
|
float _fps = 10.0f; // Hz
|
||||||
|
|
||||||
|
DynamixelHandler _oDxlHandler;
|
||||||
|
ros::Publisher _jointPositionPublisher;
|
||||||
|
std::string _poppyDxlPortName = "/dev/ttyUSB0";
|
||||||
|
float _poppyDxlProtocol = 2.0;
|
||||||
|
int _poppyDxlBaudRate = 1000000;
|
||||||
|
int _nbJoints = 6;
|
||||||
|
float _minJointCmd = 0;
|
||||||
|
float _maxJointCmd = 1023;
|
||||||
|
float _minJointAngle = -180.0f;
|
||||||
|
float _maxJointAngle = 180.0f;
|
||||||
|
// create vector unit 16_t
|
||||||
|
std::vector<uint16_t> jointVec;
|
||||||
|
|
||||||
|
int convertAnglesToJointCmd(float fJointAngle)
|
||||||
|
{
|
||||||
|
// y = ax + b
|
||||||
|
float a = (_maxJointCmd-_minJointCmd) / (_maxJointAngle - _minJointAngle);
|
||||||
|
float b = _minJointCmd - a * _minJointAngle;
|
||||||
|
float jointCmd = a * fJointAngle + b;
|
||||||
|
return (int)jointCmd;
|
||||||
|
}
|
||||||
|
|
||||||
|
void jointCMDCallback(const geometry_msgs::Twist& joint_cmd)
|
||||||
|
{
|
||||||
|
jointVec.clear();
|
||||||
|
//fill it w joint_cmd_values
|
||||||
|
jointVec.push_back(convertAnglesToJointCmd(joint_cmd.linear.x));
|
||||||
|
jointVec.push_back(convertAnglesToJointCmd(joint_cmd.linear.y));
|
||||||
|
jointVec.push_back(convertAnglesToJointCmd(joint_cmd.linear.z));
|
||||||
|
jointVec.push_back(convertAnglesToJointCmd(joint_cmd.angular.x));
|
||||||
|
jointVec.push_back(0.0);
|
||||||
|
jointVec.push_back(0.0);
|
||||||
|
//call sendTargetJOintPosition(vector) of DxlHandler
|
||||||
|
_oDxlHandler.sendTargetJointPosition(jointVec);
|
||||||
|
}
|
||||||
|
|
||||||
|
int main(int argc, char** argv)
|
||||||
|
{
|
||||||
|
// create a node called poppy_ros
|
||||||
|
ros::init(argc, argv, "poppy_ros", ros::init_options::NoSigintHandler);
|
||||||
|
//ros::init(argc, argv, "autopilot");
|
||||||
|
|
||||||
|
// create a node handle
|
||||||
|
ros::NodeHandle nh;
|
||||||
|
|
||||||
|
// create a publisher to joint_position topic
|
||||||
|
_jointPositionPublisher = nh.advertise<geometry_msgs::Twist>("joint_position", 1);
|
||||||
|
|
||||||
|
//create a subscriber
|
||||||
|
ros::Subscriber sub = nh.subscribe("joint_cmd",1, jointCMDCallback);
|
||||||
|
|
||||||
|
// create a loop rate
|
||||||
|
ros::Rate loopRate(_fps);
|
||||||
|
|
||||||
|
// create a Twist message
|
||||||
|
geometry_msgs::Twist jointPositionMsg;
|
||||||
|
|
||||||
|
std::cout << "===Initialization of the Dynamixel Motor communication====" << std::endl;
|
||||||
|
_oDxlHandler.setDeviceName(_poppyDxlPortName);
|
||||||
|
_oDxlHandler.setProtocolVersion(_poppyDxlProtocol);
|
||||||
|
_oDxlHandler.openPort();
|
||||||
|
_oDxlHandler.setBaudRate(_poppyDxlBaudRate);
|
||||||
|
_oDxlHandler.enableTorque(false);
|
||||||
|
std::cout << std::endl;
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
ROS_INFO("===Launching Poppy node===");
|
||||||
|
|
||||||
|
// loop until Ctrl+C is pressed or ROS connectivity issues
|
||||||
|
while(ros::ok())
|
||||||
|
{
|
||||||
|
//===RETRIEVE Dynamixel Motor positions====
|
||||||
|
std::vector<uint16_t> l_vCurrentJointPosition;
|
||||||
|
bool bIsReadSuccessfull = _oDxlHandler.readCurrentJointPosition(l_vCurrentJointPosition);
|
||||||
|
|
||||||
|
// stores them into a msg
|
||||||
|
if (bIsReadSuccessfull)
|
||||||
|
{
|
||||||
|
jointPositionMsg.linear.x = l_vCurrentJointPosition[0];
|
||||||
|
jointPositionMsg.linear.y = l_vCurrentJointPosition[1];
|
||||||
|
jointPositionMsg.linear.z = l_vCurrentJointPosition[2];
|
||||||
|
jointPositionMsg.angular.x = l_vCurrentJointPosition[3];
|
||||||
|
}
|
||||||
|
|
||||||
|
// publish the Twist message to the joint_position topic
|
||||||
|
_jointPositionPublisher.publish(jointPositionMsg);
|
||||||
|
|
||||||
|
// spin once to let the process handle callback ad key stroke
|
||||||
|
ros::spinOnce();
|
||||||
|
|
||||||
|
// sleep the right amout of time to comply with _fps
|
||||||
|
loopRate.sleep();
|
||||||
|
}
|
||||||
|
|
||||||
|
_oDxlHandler.enableTorque(false);
|
||||||
|
_oDxlHandler.closePort();
|
||||||
|
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,60 @@
|
||||||
|
#include "ros/ros.h"
|
||||||
|
#include "geometry_msgs/Twist.h"
|
||||||
|
|
||||||
|
|
||||||
|
ros::Publisher _jointPositionPublisher;
|
||||||
|
|
||||||
|
int main(int argc, char** argv)
|
||||||
|
{
|
||||||
|
// create a node called poppy_ros
|
||||||
|
ros::init(argc, argv, "poppy_ros_test");
|
||||||
|
//ros::init(argc, argv, "autopilot");
|
||||||
|
|
||||||
|
// create a node handle
|
||||||
|
ros::NodeHandle nh;
|
||||||
|
|
||||||
|
// create a publisher to joint_position topic
|
||||||
|
_jointPositionPublisher = nh.advertise<geometry_msgs::Twist>("joint_cmd", 1);
|
||||||
|
|
||||||
|
|
||||||
|
// create a loop rate
|
||||||
|
ros::Rate loopRate(1);
|
||||||
|
|
||||||
|
// create a Twist message
|
||||||
|
geometry_msgs::Twist jointPositionMsg;
|
||||||
|
|
||||||
|
|
||||||
|
int x=0;
|
||||||
|
|
||||||
|
ROS_INFO("===Launching Poppy node===");
|
||||||
|
|
||||||
|
// loop until Ctrl+C is pressed or ROS connectivity issues
|
||||||
|
while(ros::ok())
|
||||||
|
{
|
||||||
|
|
||||||
|
// stores them into a msg
|
||||||
|
if (x != 180)
|
||||||
|
{
|
||||||
|
jointPositionMsg.linear.x = x;
|
||||||
|
jointPositionMsg.linear.y = 100;
|
||||||
|
jointPositionMsg.linear.z = x;
|
||||||
|
jointPositionMsg.angular.x = x;
|
||||||
|
x+=10;
|
||||||
|
}
|
||||||
|
else if(x==180)
|
||||||
|
{
|
||||||
|
x=0;
|
||||||
|
}
|
||||||
|
|
||||||
|
// publish the Twist message to the joint_position topic
|
||||||
|
_jointPositionPublisher.publish(jointPositionMsg);
|
||||||
|
|
||||||
|
// spin once to let the process handle callback ad key stroke
|
||||||
|
ros::spinOnce();
|
||||||
|
|
||||||
|
// sleep the right amout of time to comply with _fps
|
||||||
|
loopRate.sleep();
|
||||||
|
}
|
||||||
|
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,53 @@
|
||||||
|
#include "ros/ros.h"
|
||||||
|
#include "geometry_msgs/Twist.h"
|
||||||
|
#include "sensor_msgs/JointState.h"
|
||||||
|
|
||||||
|
std::vector<double> jointVec;
|
||||||
|
void jointCMDCallback(const geometry_msgs::Twist& joint_cmd)
|
||||||
|
{
|
||||||
|
jointVec.clear();
|
||||||
|
//fill it w joint_cmd_values
|
||||||
|
jointVec.push_back(joint_cmd.linear.x);
|
||||||
|
jointVec.push_back(joint_cmd.linear.y);
|
||||||
|
jointVec.push_back(joint_cmd.linear.z);
|
||||||
|
jointVec.push_back(joint_cmd.angular.x);
|
||||||
|
jointVec.push_back(joint_cmd.angular.y);
|
||||||
|
jointVec.push_back(joint_cmd.angular.z);
|
||||||
|
}
|
||||||
|
double deg2rad(double angle)
|
||||||
|
{
|
||||||
|
return -angle / 180.0 * M_PI;
|
||||||
|
}
|
||||||
|
int main(int argc, char** argv)
|
||||||
|
{
|
||||||
|
ros::init(argc, argv, "poppy_ros", ros::init_options::NoSigintHandler);
|
||||||
|
|
||||||
|
// create a node handle
|
||||||
|
ros::NodeHandle nh;
|
||||||
|
|
||||||
|
|
||||||
|
//create a subscriber
|
||||||
|
ros::Subscriber sub = nh.subscribe("joint_cmd",1, jointCMDCallback);
|
||||||
|
|
||||||
|
// create a loop rate
|
||||||
|
ros::Rate loopRate(10);
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
ROS_INFO("===Launching Poppy node 2===");
|
||||||
|
ros::Publisher jointCmdPublisher = nh.advertise<sensor_msgs::JointState>("joint_states", 1);
|
||||||
|
std::vector<std::string> jointCmdNameArray = {"m1", "m2", "m3", "m4", "m5", "m6"};
|
||||||
|
while (ros::ok())
|
||||||
|
{
|
||||||
|
sensor_msgs::JointState jointCmdMsg;
|
||||||
|
jointCmdMsg.header.stamp = ros::Time::now();
|
||||||
|
jointCmdMsg.header.seq++;
|
||||||
|
jointCmdMsg.position = jointVec;
|
||||||
|
jointCmdMsg.name = jointCmdNameArray;
|
||||||
|
jointCmdPublisher.publish(jointCmdMsg);
|
||||||
|
ROS_INFO("===data published===");
|
||||||
|
ros::spinOnce();
|
||||||
|
loopRate.sleep();
|
||||||
|
}
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,5 @@
|
||||||
|
int64 x
|
||||||
|
int64 y
|
||||||
|
int64 z
|
||||||
|
---
|
||||||
|
float64[] joints
|
||||||
Loading…
Reference in New Issue