final push 07/01
This commit is contained in:
commit
8176deaa84
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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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## 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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std_msgs
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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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## 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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################################################
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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 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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# include
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${catkin_INCLUDE_DIRS}
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/home/estevan/catkin_ws/src/poppy_ros/src/toolkit-dynamixel/include
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)
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## Declare a C++ library
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# add_library(${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} ${catkin_EXPORTED_TARGETS})
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## Declare a C++ executable
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## With catkin_make all packages are built within a single CMake context
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## The recommended prefix ensures that target names across packages don't collide
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add_executable(poppy_ros src/poppy_ros_node.cpp /home/estevan/catkin_ws/src/poppy_ros/src/toolkit-dynamixel//src/DynamixelHandler.cpp)
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## Rename C++ executable without prefix
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## The above recommended prefix causes long target names, the following renames the
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## target back to the shorter version for ease of user use
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## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
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# set_target_properties(${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(poppy_ros ${catkin_LIBRARIES})
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target_link_libraries(poppy_ros dxl_x64_cpp rt ${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 ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${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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@ -0,0 +1,92 @@
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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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<!--
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One maintainer tag required, multiple allowed, one person per tag
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-->
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<!-- Example: -->
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<!--
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<maintainer email="jane.doe@example.com">Jane Doe</maintainer>
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-->
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<maintainer email="ros@todo.todo">ros</maintainer>
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<!--
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One license tag required, multiple allowed, one license per tag
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-->
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<!-- Commonly used license strings: -->
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<!--
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BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3
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-->
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<license>TODO</license>
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<!--
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Url tags are optional, but multiple are allowed, one per tag
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-->
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<!--
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Optional attribute type can be: website, bugtracker, or repository
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-->
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<!-- Example: -->
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<!--
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<url type="website">http://wiki.ros.org/poppy_ros</url>
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-->
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<!--
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Author tags are optional, multiple are allowed, one per tag
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-->
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<!--
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Authors do not have to be maintainers, but could be
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-->
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<!-- Example: -->
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<!--
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<author email="jane.doe@example.com">Jane Doe</author>
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-->
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<!--
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The *depend tags are used to specify dependencies
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-->
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<!--
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Dependencies can be catkin packages or system dependencies
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-->
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<!-- Examples: -->
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<!--
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Use depend as a shortcut for packages that are both build and exec dependencies
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-->
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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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<!--
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Use build_depend for packages you need at compile time:
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-->
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<build_depend>message_generation</build_depend>
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<!--
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Use build_export_depend for packages you need in order to build against this package:
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-->
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<!--
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<build_export_depend>message_generation</build_export_depend>
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-->
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<!-- Use buildtool_depend for build tool packages: -->
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<!-- <buildtool_depend>catkin</buildtool_depend> -->
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<!--
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Use exec_depend for packages you need at runtime:
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-->
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<exec_depend>message_runtime</exec_depend>
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<!--
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Use test_depend for packages you need only for testing:
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-->
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<!-- <test_depend>gtest</test_depend> -->
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<!--
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Use doc_depend for packages you need only for building documentation:
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-->
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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>std_msgs</build_depend>
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<build_export_depend>roscpp</build_export_depend>
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<build_export_depend>std_msgs</build_export_depend>
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<exec_depend>roscpp</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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-->
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</export>
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</package>
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@ -0,0 +1,88 @@
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#include <ros/ros.h>
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#include <sensor_msgs/JointState.h>
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#include <cmath> // for M_PI
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#include <sstream> // for stringstream
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#include <iostream> // for std::cin
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class PoppyArmPrinter
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{
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public:
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PoppyArmPrinter() : nh_("~"), print_timer_(nh_.createTimer(ros::Duration(10.0), &PoppyArmPrinter::timerCallback, this))
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{
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sub_ = nh_.subscribe("/joint_states", 1000, &PoppyArmPrinter::jointStateCallback, this);
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cmd_sub_ = nh_.subscribe("/joint_cmd", 1000, &PoppyArmPrinter::jointCmdCallback, this); // New subscriber for joint commands
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joint_states_pub_ = nh_.advertise<sensor_msgs::JointState>("/joint_states", 1000);
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joint_positions_pub_ = nh_.advertise<sensor_msgs::JointState>("/joint_positions", 1000);
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}
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private:
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void jointStateCallback(const sensor_msgs::JointState::ConstPtr& msg)
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{
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last_msg_ = *msg;
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}
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void jointCmdCallback(const sensor_msgs::JointState::ConstPtr& msg)
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{
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// Update robot state based on received command
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// Assuming the message contains the desired joint positions
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last_msg_ = *msg;
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}
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void timerCallback(const ros::TimerEvent&)
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{
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printAndPublishJointStates();
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// Ask for new joint values from the terminal
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for (size_t i = 0; i < last_msg_.name.size(); ++i) {
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std::cout << "Enter new position for joint " << last_msg_.name[i] << " (in degrees): ";
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double new_position_deg;
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std::cin >> new_position_deg;
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last_msg_.position[i] = new_position_deg * (M_PI / 180.0);
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}
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// Print and publish the updated joint states
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printAndPublishJointStates();
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}
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void printAndPublishJointStates()
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{
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sensor_msgs::JointState joint_deg_msg;
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joint_deg_msg.header.stamp = ros::Time::now();
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joint_deg_msg.name = last_msg_.name;
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std::stringstream ss;
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ss << "Joint States:\n";
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for (size_t i = 0; i < last_msg_.name.size(); ++i) {
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double position_deg = last_msg_.position[i] * (180.0 / M_PI);
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ss << " - " << last_msg_.name[i] << ": " << position_deg << " degrees\n";
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joint_deg_msg.position.push_back(position_deg);
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}
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ROS_INFO_STREAM(ss.str());
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// Publishing the joint positions in degrees
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joint_states_pub_.publish(joint_deg_msg);
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joint_positions_pub_.publish(joint_deg_msg);
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}
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ros::NodeHandle nh_;
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ros::Subscriber sub_;
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ros::Subscriber cmd_sub_; // New subscriber for joint commands
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sensor_msgs::JointState last_msg_;
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ros::Publisher joint_states_pub_;
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ros::Publisher joint_positions_pub_;
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ros::Timer print_timer_;
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};
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int main(int argc, char **argv)
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{
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ros::init(argc, argv, "poppy_arm_printer");
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PoppyArmPrinter poppyArmPrinter;
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ros::spin();
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return 0;
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}
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