Copy to new git
This commit is contained in:
commit
07586c466f
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cmake_minimum_required(VERSION 3.0.2)
|
||||
project(poppy_ros)
|
||||
|
||||
## Compile as C++11, supported in ROS Kinetic and newer
|
||||
# add_compile_options(-std=c++11)
|
||||
|
||||
set (OpenCV_DIR "/usr/lib/opencv")
|
||||
|
||||
## Find catkin macros and libraries
|
||||
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
|
||||
## is used, also find other catkin packages
|
||||
find_package(catkin REQUIRED COMPONENTS
|
||||
roscpp
|
||||
std_msgs
|
||||
geometry_msgs
|
||||
message_generation
|
||||
poppy_ros
|
||||
)
|
||||
|
||||
find_package(OpenCV REQUIRED COMPONENTS
|
||||
core
|
||||
)
|
||||
|
||||
## System dependencies are found with CMake's conventions
|
||||
# find_package(Boost REQUIRED COMPONENTS system)
|
||||
|
||||
|
||||
## Uncomment this if the package has a setup.py. This macro ensures
|
||||
## modules and global scripts declared therein get installed
|
||||
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
|
||||
# catkin_python_setup()
|
||||
|
||||
################################################
|
||||
## Declare ROS messages, services and actions ##
|
||||
################################################
|
||||
|
||||
## To declare and build messages, services or actions from within this
|
||||
## package, follow these steps:
|
||||
## * Let MSG_DEP_SET be the set of packages whose message types you use in
|
||||
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
|
||||
## * In the file package.xml:
|
||||
## * add a build_depend tag for "message_generation"
|
||||
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
|
||||
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
|
||||
## but can be declared for certainty nonetheless:
|
||||
## * add a exec_depend tag for "message_runtime"
|
||||
## * In this file (CMakeLists.txt):
|
||||
## * add "message_generation" and every package in MSG_DEP_SET to
|
||||
## find_package(catkin REQUIRED COMPONENTS ...)
|
||||
## * add "message_runtime" and every package in MSG_DEP_SET to
|
||||
## catkin_package(CATKIN_DEPENDS ...)
|
||||
## * uncomment the add_*_files sections below as needed
|
||||
## and list every .msg/.srv/.action file to be processed
|
||||
## * uncomment the generate_messages entry below
|
||||
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
|
||||
|
||||
## Generate messages in the 'msg' folder
|
||||
# add_message_files(
|
||||
# FILES
|
||||
# Message1.msg
|
||||
# Message2.msg
|
||||
# )
|
||||
|
||||
## Generate services in the 'srv' folder
|
||||
##add_service_files(
|
||||
## FILES
|
||||
##ik.srv
|
||||
##)
|
||||
|
||||
## Generate actions in the 'action' folder
|
||||
# add_action_files(
|
||||
# FILES
|
||||
# Action1.action
|
||||
# Action2.action
|
||||
# )
|
||||
|
||||
## Generate added messages and services with any dependencies listed here
|
||||
generate_messages(
|
||||
DEPENDENCIES
|
||||
std_msgs
|
||||
geometry_msgs
|
||||
)
|
||||
|
||||
################################################
|
||||
## Declare ROS dynamic reconfigure parameters ##
|
||||
################################################
|
||||
|
||||
## To declare and build dynamic reconfigure parameters within this
|
||||
## package, follow these steps:
|
||||
## * In the file package.xml:
|
||||
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
|
||||
## * In this file (CMakeLists.txt):
|
||||
## * add "dynamic_reconfigure" to
|
||||
## find_package(catkin REQUIRED COMPONENTS ...)
|
||||
## * uncomment the "generate_dynamic_reconfigure_options" section below
|
||||
## and list every .cfg file to be processed
|
||||
|
||||
## Generate dynamic reconfigure parameters in the 'cfg' folder
|
||||
# generate_dynamic_reconfigure_options(
|
||||
# cfg/DynReconf1.cfg
|
||||
# cfg/DynReconf2.cfg
|
||||
# )
|
||||
|
||||
###################################
|
||||
## catkin specific configuration ##
|
||||
###################################
|
||||
## The catkin_package macro generates cmake config files for your package
|
||||
## Declare things to be passed to dependent projects
|
||||
## INCLUDE_DIRS: uncomment this if your package contains header files
|
||||
## LIBRARIES: libraries you create in this project that dependent projects also need
|
||||
## CATKIN_DEPENDS: catkin_packages dependent projects also need
|
||||
## DEPENDS: system dependencies of this project that dependent projects also need
|
||||
catkin_package(
|
||||
# INCLUDE_DIRS include
|
||||
# LIBRARIES poppy_ros
|
||||
# CATKIN_DEPENDS roscpp std_msgs
|
||||
# DEPENDS system_lib
|
||||
)
|
||||
|
||||
###########
|
||||
## Build ##
|
||||
###########
|
||||
|
||||
## Specify additional locations of header files
|
||||
## Your package locations should be listed before other locations
|
||||
include_directories(
|
||||
/home/ros/SOFTWARE/toolkit-dynamixel
|
||||
/home/ros/SOFTWARE/toolkit-kinematics
|
||||
${OpenCV_INCLUDE_DIRS}
|
||||
/home/ros/SOFTWARE/eigen/Eigen
|
||||
${catkin_INCLUDE_DIRS}
|
||||
)
|
||||
|
||||
## Declare a C++ library
|
||||
# add_library(${PROJECT_NAME}
|
||||
# src/${PROJECT_NAME}/poppy_ros.cpp
|
||||
# )
|
||||
|
||||
#add_library(poppy_ros src/$DynamixelHandler.cpp)
|
||||
|
||||
## Add cmake target dependencies of the library
|
||||
## as an example, code may need to be generated before libraries
|
||||
## either from message generation or dynamic reconfigure
|
||||
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||
|
||||
## Declare a C++ executable
|
||||
## With catkin_make all packages are built within a single CMake context
|
||||
## The recommended prefix ensures that target names across packages don't collide
|
||||
# add_executable(${PROJECT_NAME}_node src/poppy_ros_node.cpp)
|
||||
add_executable(poppy_state ~/catkin_ws/src/lab3/poppy_state.cpp /home/ros/SOFTWARE/toolkit-dynamixel/src/DynamixelHandler.cpp)
|
||||
|
||||
add_executable(poppy_ros ~/catkin_ws/src/lab3/poppy_ros.cpp /home/ros/SOFTWARE/toolkit-dynamixel/src/DynamixelHandler.cpp)
|
||||
|
||||
#add_executable(ik_server src/ik_server.cpp src/toolkit-kinematics/Kinematics.cpp src/toolkit-kinematics/RotationMatrix.cpp src/toolkit-kinematics/TranslationMatrix.cpp src/toolkit-kinematics/TransformationMatrix.cpp)
|
||||
|
||||
#add_executable(ik_client src/ik_client.cpp)
|
||||
|
||||
## Rename C++ executable without prefix
|
||||
## The above recommended prefix causes long target names, the following renames the
|
||||
## target back to the shorter version for ease of user use
|
||||
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
|
||||
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
|
||||
|
||||
## Add cmake target dependencies of the executable
|
||||
## same as for the library above
|
||||
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||
|
||||
## Specify libraries to link a library or executable target against
|
||||
# target_link_libraries(${PROJECT_NAME}_node
|
||||
# ${catkin_LIBRARIES}
|
||||
# )
|
||||
|
||||
target_link_libraries(poppy_state dxl_x64_cpp rt ${catkin_LIBRARIES})
|
||||
target_link_libraries(poppy_ros dxl_x64_cpp rt ${catkin_LIBRARIES})
|
||||
|
||||
#target_link_libraries(ik_server ${catkin_LIBRARIES} ${OpenCV_LIBS})
|
||||
|
||||
#target_link_libraries(ik_client ${catkin_LIBRARIES})
|
||||
|
||||
#############
|
||||
## Install ##
|
||||
#############
|
||||
|
||||
# all install targets should use catkin DESTINATION variables
|
||||
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
|
||||
|
||||
## Mark executable scripts (Python etc.) for installation
|
||||
## in contrast to setup.py, you can choose the destination
|
||||
# catkin_install_python(PROGRAMS
|
||||
# scripts/my_python_script
|
||||
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||
# )
|
||||
|
||||
## Mark executables for installation
|
||||
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
|
||||
# install(TARGETS ${PROJECT_NAME}_node
|
||||
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||
# )
|
||||
|
||||
## Mark libraries for installation
|
||||
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
|
||||
# install(TARGETS ${PROJECT_NAME}
|
||||
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
|
||||
# )
|
||||
|
||||
## Mark cpp header files for installation
|
||||
# install(DIRECTORY include/${PROJECT_NAME}/
|
||||
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
|
||||
# FILES_MATCHING PATTERN "*.h"
|
||||
# PATTERN ".svn" EXCLUDE
|
||||
#include /home/ros/SOFTWARE/toolkit-dynamixel/include/DynamixelHandler.h
|
||||
include_directories(/home/ros/SOFTWARE/toolkit-dynamixel/include)
|
||||
# )
|
||||
|
||||
## Mark other files for installation (e.g. launch and bag files, etc.)
|
||||
# install(FILES
|
||||
# # myfile1
|
||||
# # myfile2
|
||||
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
||||
# )
|
||||
|
||||
#############
|
||||
## Testing ##
|
||||
#############
|
||||
|
||||
## Add gtest based cpp test target and link libraries
|
||||
# catkin_add_gtest(${PROJECT_NAME}-test test/test_poppy_ros.cpp)
|
||||
# if(TARGET ${PROJECT_NAME}-test)
|
||||
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
|
||||
# endif()
|
||||
|
||||
## Add folders to be run by python nosetests
|
||||
# catkin_add_nosetests(test)
|
||||
|
|
@ -0,0 +1,82 @@
|
|||
#if defined(__linux__) || defined(__APPLE__)
|
||||
#include <fcntl.h>
|
||||
#include <getopt.h>
|
||||
#include <termios.h>
|
||||
#define STDIN_FILENO 0
|
||||
#elif defined(_WIN32) || defined(_WIN64)
|
||||
#include <conio.h>
|
||||
#endif
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string>
|
||||
#include <iostream>
|
||||
#include <vector>
|
||||
|
||||
#include "dynamixel_sdk/dynamixel_sdk.h"
|
||||
|
||||
|
||||
#define ADDR_XL320_TORQUE_ENABLE 24
|
||||
#define ADDR_XL320_LED_ON 25
|
||||
|
||||
#define ADDR_XL320_D_GAIN 27
|
||||
#define ADDR_XL320_I_GAIN 28
|
||||
#define ADDR_XL320_P_GAIN 29
|
||||
|
||||
#define ADDR_XL320_GOAL_POSITION 30
|
||||
#define ADDR_XL320_GOAL_VELOCITY 32
|
||||
#define ADDR_XL320_GOAL_TORQUE 35
|
||||
|
||||
#define ADDR_XL320_PRESENT_POSITION 37
|
||||
#define ADDR_XL320_PRESENT_VELOCITY 39
|
||||
#define ADDR_XL320_PRESENT_LOAD 41
|
||||
#define ADDR_XL320_PRESENT_VOLTAGE 45
|
||||
#define ADDR_XL320_PRESENT_TEMPERATURE 46
|
||||
|
||||
#define ADDR_XL320_HARDWARE_ERROR_STATUS 50
|
||||
|
||||
#define NB_JOINTS 6
|
||||
|
||||
|
||||
class DynamixelHandler
|
||||
{
|
||||
|
||||
public:
|
||||
DynamixelHandler();
|
||||
~DynamixelHandler();
|
||||
|
||||
public:
|
||||
//scan();
|
||||
//ping();
|
||||
//reboot();
|
||||
bool openPort();
|
||||
void closePort();
|
||||
bool setBaudRate(int);
|
||||
void setDeviceName(std::string);
|
||||
void setProtocolVersion(float);
|
||||
bool enableTorque(bool);
|
||||
|
||||
bool readCurrentJointPosition(std::vector<uint16_t>& vCurrentJointPosition);
|
||||
bool readCurrentJointTorque(std::vector<uint16_t>& vCurrentJointTorque);
|
||||
bool sendTargetJointPosition(std::vector<uint16_t>& vTargetJointPosition);
|
||||
|
||||
|
||||
|
||||
private:
|
||||
std::string m_sDeviceName;
|
||||
float m_fProtocolVersion;
|
||||
int m_i32BaudRate;
|
||||
|
||||
dynamixel::PortHandler* m_pPortHandler;
|
||||
dynamixel::PacketHandler* m_pPacketHandler;
|
||||
|
||||
bool m_bIsDeviceNameSet;
|
||||
bool m_bIsProtocolVersionSet;
|
||||
bool m_bIsPortOpened;
|
||||
bool m_bIsBaudRateSet;
|
||||
|
||||
int m_i32DxlCommunicationResult; // Communication result
|
||||
uint8_t m_ui8DxlError; // Dynamixel error
|
||||
std::vector<uint16_t> m_vDxlCurrentPosition; // Present position
|
||||
|
||||
};
|
||||
|
|
@ -0,0 +1,51 @@
|
|||
#include <iostream>
|
||||
#include "ros/ros.h"
|
||||
#include "poppy_ros/InverseKinematics.h"
|
||||
#include "geometry_msgs/Twist.h"
|
||||
|
||||
int main(int argc, char** argv)
|
||||
{
|
||||
if (argc != 4)
|
||||
{
|
||||
std::cerr << "Usage: rosrun poppy_ros ik_client <x_target> <y_target> <z_target>" << std::endl;
|
||||
return 1;
|
||||
}
|
||||
|
||||
ros::init(argc, argv, "ik_client");
|
||||
ros::NodeHandle nh;
|
||||
ros::ServiceClient ikClient = nh.serviceClient<poppy_ros::InverseKinematics>("ik");
|
||||
|
||||
poppy_ros::InverseKinematics srv;
|
||||
srv.request.x = std::stof(argv[1]);
|
||||
srv.request.y = std::stof(argv[2]);
|
||||
srv.request.z = std::stof(argv[3]);
|
||||
|
||||
if (ikClient.call(srv))
|
||||
{
|
||||
ROS_INFO("Received joint values from ik_server.");
|
||||
|
||||
ros::Publisher jointCmdPublisher = nh.advertise<geometry_msgs::Twist>("/joint_cmd", 1);
|
||||
geometry_msgs::Twist jointCmdMsg;
|
||||
|
||||
// Assign the received joint values to the Twist message
|
||||
jointCmdMsg.linear.x = srv.response.joint1;
|
||||
jointCmdMsg.linear.y = srv.response.joint2;
|
||||
jointCmdMsg.linear.z = srv.response.joint3;
|
||||
jointCmdMsg.angular.x = srv.response.joint4;
|
||||
jointCmdMsg.angular.y = srv.response.joint5;
|
||||
jointCmdMsg.angular.z = srv.response.joint6;
|
||||
|
||||
// Publish joint values to the topic /joint_cmd
|
||||
jointCmdPublisher.publish(jointCmdMsg);
|
||||
|
||||
ROS_INFO("Published joint values to /joint_cmd.");
|
||||
}
|
||||
else
|
||||
{
|
||||
ROS_ERROR("Failed to call ik service.");
|
||||
return 1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,30 @@
|
|||
#include "ros/ros.h"
|
||||
#include "poppy_ros/InverseKinematics.h"
|
||||
|
||||
bool inverseKinematicsService(poppy_ros::InverseKinematics::Request& req, poppy_ros::InverseKinematics::Response& res)
|
||||
{
|
||||
|
||||
res.joint1 = req.x;
|
||||
res.joint2 = req.y;
|
||||
res.joint3 = req.z;
|
||||
res.joint4 = 0.0;
|
||||
res.joint5 = 0.0;
|
||||
res.joint6 = 0.0;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
int main(int argc, char** argv)
|
||||
{
|
||||
ros::init(argc, argv, "ik_server");
|
||||
ros::NodeHandle nh;
|
||||
|
||||
ros::ServiceServer server = nh.advertiseService("ik", inverseKinematicsService);
|
||||
|
||||
ROS_INFO("ik_server is ready to receive requests.");
|
||||
|
||||
ros::spin();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,65 @@
|
|||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<name>poppy_ros</name>
|
||||
<version>0.0.0</version>
|
||||
<description>The poppy_ros package</description>
|
||||
|
||||
<!-- One maintainer tag required, multiple allowed, one person per tag -->
|
||||
<!-- Example: -->
|
||||
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
|
||||
<maintainer email="ros@todo.todo">ros</maintainer>
|
||||
|
||||
|
||||
<!-- One license tag required, multiple allowed, one license per tag -->
|
||||
<!-- Commonly used license strings: -->
|
||||
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
|
||||
<license>TODO</license>
|
||||
|
||||
|
||||
<!-- Url tags are optional, but multiple are allowed, one per tag -->
|
||||
<!-- Optional attribute type can be: website, bugtracker, or repository -->
|
||||
<!-- Example: -->
|
||||
<!-- <url type="website">http://wiki.ros.org/poppy_ros</url> -->
|
||||
|
||||
|
||||
<!-- Author tags are optional, multiple are allowed, one per tag -->
|
||||
<!-- Authors do not have to be maintainers, but could be -->
|
||||
<!-- Example: -->
|
||||
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
|
||||
|
||||
|
||||
<!-- The *depend tags are used to specify dependencies -->
|
||||
<!-- Dependencies can be catkin packages or system dependencies -->
|
||||
<!-- Examples: -->
|
||||
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
|
||||
<!-- <depend>roscpp</depend> -->
|
||||
<!-- Note that this is equivalent to the following: -->
|
||||
<!-- <build_depend>roscpp</build_depend> -->
|
||||
<!-- <exec_depend>roscpp</exec_depend> -->
|
||||
<!-- Use build_depend for packages you need at compile time: -->
|
||||
<build_depend>message_generation</build_depend>
|
||||
<!-- Use build_export_depend for packages you need in order to build against this package: -->
|
||||
<!-- <build_export_depend>message_generation</build_export_depend> -->
|
||||
<!-- Use buildtool_depend for build tool packages: -->
|
||||
<!-- <buildtool_depend>catkin</buildtool_depend> -->
|
||||
<!-- Use exec_depend for packages you need at runtime: -->
|
||||
<exec_depend>message_runtime</exec_depend>
|
||||
<!-- Use test_depend for packages you need only for testing: -->
|
||||
<!-- <test_depend>gtest</test_depend> -->
|
||||
<!-- Use doc_depend for packages you need only for building documentation: -->
|
||||
<!-- <doc_depend>doxygen</doc_depend> -->
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
<build_depend>roscpp</build_depend>
|
||||
<build_depend>std_msgs</build_depend>
|
||||
<build_export_depend>roscpp</build_export_depend>
|
||||
<build_export_depend>std_msgs</build_export_depend>
|
||||
<exec_depend>roscpp</exec_depend>
|
||||
<exec_depend>std_msgs</exec_depend>
|
||||
|
||||
|
||||
<!-- The export tag contains other, unspecified, tags -->
|
||||
<export>
|
||||
<!-- Other tools can request additional information be placed here -->
|
||||
|
||||
</export>
|
||||
</package>
|
||||
|
|
@ -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 +1,109 @@
|
|||
#include "DynamixelHandler.h"
|
||||
#include <ros/ros.h>
|
||||
#include <geometry_msgs/Twist.h>
|
||||
|
||||
|
||||
// Global variables
|
||||
float _fps = 10.0f; // Hz
|
||||
|
||||
DynamixelHandler dxHandler;
|
||||
ros::Publisher _jointPositionPublisher;
|
||||
int _nbJoints = 6;
|
||||
float _minJointCmd = 0;
|
||||
float _maxJointCmd = 1023;
|
||||
float _minJointAngle = -180.0f;
|
||||
float _maxJointAngle = 180.0f;
|
||||
|
||||
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 jointCallback(const geometry_msgs::Twist & joint_cmd){
|
||||
|
||||
int joint1 = convertAnglesToJointCmd(joint_cmd.linear.x);
|
||||
int joint2 = convertAnglesToJointCmd(joint_cmd.linear.y);
|
||||
int joint3 = convertAnglesToJointCmd(joint_cmd.linear.z);
|
||||
int joint4 = convertAnglesToJointCmd(joint_cmd.angular.x);
|
||||
int joint5 = convertAnglesToJointCmd(joint_cmd.angular.y);
|
||||
int joint6 = convertAnglesToJointCmd(joint_cmd.angular.z);
|
||||
|
||||
std::vector <uint16_t> jointvec;
|
||||
|
||||
jointvec.push_back(joint1);
|
||||
jointvec.push_back(joint2);
|
||||
jointvec.push_back(joint3);
|
||||
jointvec.push_back(joint4);
|
||||
jointvec.push_back(joint5);
|
||||
jointvec.push_back(joint6);
|
||||
|
||||
dxHandler.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 loop rate
|
||||
ros::Rate loopRate(_fps);
|
||||
|
||||
// create a Twist message
|
||||
geometry_msgs::Twist jointPositionMsg;
|
||||
|
||||
std::cout << "===Initialization of the Dynamixel Motor communication====" << std::endl;
|
||||
dxHandler.setDeviceName("/dev/ttyUSB0");
|
||||
dxHandler.setProtocolVersion(2.0);
|
||||
dxHandler.openPort();
|
||||
dxHandler.setBaudRate(1000000);
|
||||
dxHandler.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 = dxHandler.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];
|
||||
jointPositionMsg.angular.y = l_vCurrentJointPosition[4];
|
||||
jointPositionMsg.angular.z = l_vCurrentJointPosition[5];
|
||||
}
|
||||
|
||||
// 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();
|
||||
}
|
||||
|
||||
dxHandler.enableTorque(false);
|
||||
dxHandler.closePort();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
|
@ -0,0 +1,95 @@
|
|||
#include "DynamixelHandler.h"
|
||||
|
||||
#include <ros/ros.h>
|
||||
#include <geometry_msgs/Twist.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;
|
||||
|
||||
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
|
||||
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 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];
|
||||
jointPositionMsg.angular.y = l_vCurrentJointPosition[4];
|
||||
jointPositionMsg.angular.z = l_vCurrentJointPosition[5];
|
||||
}
|
||||
|
||||
// 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;
|
||||
}
|
||||
Loading…
Reference in New Issue