svgd

poppy_ros/.catkin_tools/README

@@ -0,0 +1,13 @@
+# Catkin Tools Metadata
+
+This directory was generated by catkin_tools and it contains persistent
+configuration information used by the `catkin` command and its sub-commands.
+
+Each subdirectory of the `profiles` directory contains a set of persistent
+configuration options for separate profiles. The default profile is called
+`default`. If another profile is desired, it can be described in the
+`profiles.yaml` file in this directory.
+
+Please see the catkin_tools documentation before editing any files in this
+directory. Most actions can be performed with the `catkin` command-line
+program.

poppy_ros/.catkin_tools/VERSION

@@ -0,0 +1 @@
+0.9.0

poppy_ros/.catkin_tools/profiles/default/build.yaml

@@ -0,0 +1,22 @@
+authors: []
+blacklist: []
+build_space: build
+catkin_make_args: []
+cmake_args: []
+devel_layout: linked
+devel_space: devel
+extend_path: null
+extends: null
+install: false
+install_space: install
+isolate_install: false
+jobs_args: []
+licenses:
+- TODO
+log_space: logs
+maintainers: []
+make_args: []
+source_space: src
+use_env_cache: false
+use_internal_make_jobserver: true
+whitelist: []

poppy_ros/CMakeLists.txt

@@ -1,6 +1,8 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(poppy_ros)
 
+set (OpenCV_DIR "/usr/lib/opencv")
+
 ## Compile as C++11, supported in ROS Kinetic and newer
 # add_compile_options(-std=c++11)
 
@@ -9,8 +11,13 @@ project(poppy_ros)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
   roscpp
-  rospy
   std_msgs
+  geometry_msgs
+  message_generation
+)
+
+find_package(OpenCV REQUIRED COMPONENTS
+  core
 )
 
 ## System dependencies are found with CMake's conventions
@@ -68,10 +75,7 @@ find_package(catkin REQUIRED COMPONENTS
 # )
 
 ## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs
-# )
+
 
 ################################################
 ## Declare ROS dynamic reconfigure parameters ##
@@ -116,7 +120,12 @@ catkin_package(
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
 include_directories(
-# include
+    /home/ros/SOFTWARE/toolkit-dynamixel
+    /home/ros/SOFTWARE/toolkit-dynamixel/include
+    /home/ros/SOFTWARE/toolkit-kinematics
+    /home/ros/SOFTWARE/toolkit-kinematics/include
+   ${OpenCV_INCLUDE_DIRS}
+   /home/ros/SOFTWARE/eigen/Eigen
   ${catkin_INCLUDE_DIRS}
 )
 
@@ -134,6 +143,7 @@ include_directories(
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide
 # add_executable(${PROJECT_NAME}_node src/poppy_ros_node.cpp)
+add_executable(poppy_ros src/poppy_ros.cpp /home/ros/SOFTWARE/toolkit-dynamixel/src/DynamixelHandler.cpp)
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
@@ -149,6 +159,7 @@ include_directories(
 # target_link_libraries(${PROJECT_NAME}_node
 #   ${catkin_LIBRARIES}
 # )
+target_link_libraries(poppy_ros dxl_x64_cpp rt ${catkin_LIBRARIES})
 
 #############
 ## Install ##

poppy_ros/build/.built_by

@@ -0,0 +1 @@
+catkin build

poppy_ros/build/.catkin_tools.yaml

@@ -0,0 +1,6 @@
+devel_space: /home/ros/catkin_ws/src/poppy_ros/devel
+install: false
+install_space: /home/ros/catkin_ws/src/poppy_ros/install
+profile: default
+source_space: /home/ros/catkin_ws/src/poppy_ros/src
+workspace: /home/ros/catkin_ws/src/poppy_ros

poppy_ros/devel/.built_by

@@ -0,0 +1 @@
+catkin build

poppy_ros/src/ik_client.cpp

@@ -0,0 +1,18 @@
+#include <iostream>
+#include "ros/ros.h"
+#include "poppy_ros/ik.h"
+
+int main(int argc, char** argv)
+{
+ros::init(argc, argv, <node_name>);
+ros::NodeHandle nh;
+ros::ServiceClient client = nh.serviceClient<poppy_ros::ik>(ik);
+poppy_ros::ik srv;
+srv.request.a = 1;
+srv.request.b = 2;
+if (client.call(srv))
+{
+std::cout << srv.response.sum << std::endl;
+}
+return 0;
+}

poppy_ros/src/ik_server.cpp

@@ -0,0 +1,16 @@
+#include "ros/ros.h"
+#include "poppy_ros/ik.h"
+#include "opencv2/opencv.hpp"
+bool ik( poppy_ros::ik::Request& req, poppy_ros::ik::Response& res)
+{
+	res.j1 = 0;# azerfozerjmoj,azemf, !
+	return true;
+}
+int main(int argc, char** argv)
+{
+	ros::init(argc, argv, <node_name>);
+	ros::NodeHandle nh;
+	ros::ServiceServer server = nh.advertiseService(ik, add);
+	ros::spin();
+	return 0;
+}

poppy_ros/src/poppy_ros.cpp

@@ -1,6 +1,5 @@
 #include "ros/ros.h"
 #include "geometry_msgs/Twist.h"
-#include "std_msgs/Float64MultiArray.msg"
 #include "DynamixelHandler.h"
 
 // Global variables
@@ -30,7 +29,7 @@ void jointCMDCallback(const geometry_msgs::Twist& joint_cmd)
 	jointVec.push_back(joint_cmd.angular.y);
 	jointVec.push_back(joint_cmd.angular.z);
 	//call sendTargetJOintPosition(vector) of DxlHandler 
-	_oDxlHandler.sendtargetJointPosition(jointVec);
+	_oDxlHandler.sendTargetJointPosition(jointVec);
 }
 
 int convertAnglesToJointCmd(float fJointAngle)
@@ -56,7 +55,7 @@ int main(int argc, char** argv)
 	_jointPositionPublisher = nh.advertise<geometry_msgs::Twist>("joint_position", 1);
 	
 	//create a subscriber
-	ros::Subscriber sub = nh.suscribe("joint_cmd",1, jointCMDCallback);
+	ros::Subscriber sub = nh.subscribe("joint_cmd",1, jointCMDCallback);
 	
 	// create a loop rate
 	ros::Rate loopRate(_fps);

poppy_ros/srv/ik.srv

@@ -0,0 +1,11 @@
+int64 x
+int64 y
+int64 z
+int64 w
+---
+int64 j1
+int64 j2
+int64 j3
+int64 j4
+int64 j5
+int64 j6