Obbart/RoboGlue_ROS
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aggiunta lettura parametri default giunti

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This commit is contained in:
Emanuele
2019-10-23 14:47:02 +02:00
parent 897c4e911c
commit 41c9d879a9
4 changed files with 9 additions and 4 deletions
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4
roboglue_ros_ws.workspace.user
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@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?> <?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject> <!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 4.9.1, 2019-10-23T10:49:15. --> <!-- Written by QtCreator 4.9.1, 2019-10-23T14:10:27. -->
<qtcreator> <qtcreator>
<data> <data>
<variable>EnvironmentId</variable> <variable>EnvironmentId</variable>
@@ -124,7 +124,7 @@
<value type="QString">ROS_PACKAGE_PATH=/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src:/opt/ros/kinetic/share</value> <value type="QString">ROS_PACKAGE_PATH=/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src:/opt/ros/kinetic/share</value>
<value type="QString">ROS_ROOT=/opt/ros/kinetic/share/ros</value> <value type="QString">ROS_ROOT=/opt/ros/kinetic/share/ros</value>
<value type="QString">ROS_VERSION=1</value> <value type="QString">ROS_VERSION=1</value>
<value type="QString">SHLVL=178</value> <value type="QString">SHLVL=194</value>
<value type="QString">TERM=xterm</value> <value type="QString">TERM=xterm</value>
<value type="QString">_=/usr/bin/env</value> <value type="QString">_=/usr/bin/env</value>
</valuelist> </valuelist>

3
src/roboglue_ros/include/roboglue_ros/roboglue_utils.h
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@@ -96,7 +96,8 @@ typedef struct {
const robot_state::JointModelGroup* joint_modelGroup; const robot_state::JointModelGroup* joint_modelGroup;
robot_model::RobotModelConstPtr kine_model; robot_model::RobotModelConstPtr kine_model;
robot_state::RobotStatePtr kine_state; robot_state::RobotStatePtr kine_state;
std::vector<std::string> joint_names; std::map<std::string, double> joint_names;
std::vector<double> joint_homes;
} robotData; } robotData;
typedef struct { typedef struct {

1
src/roboglue_ros/src/.gitignore vendored Normal file
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@@ -0,0 +1 @@
*.cpp.autosave

5
src/roboglue_ros/src/roboglue_follower.cpp
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@@ -173,6 +173,8 @@ int main(int argc, char **argv) {
positionData pos_data; positionData pos_data;
robotData robot_data; robotData robot_data;
auxData aux_data; auxData aux_data;
std::vector<std::string> joint_names;
/// setup node parameters /// /// setup node parameters ///
ros::init(argc, argv, "roboglue_follower"); ros::init(argc, argv, "roboglue_follower");
ros::NodeHandle nh; ros::NodeHandle nh;
@@ -191,6 +193,7 @@ int main(int argc, char **argv) {
nh.getParam(param_ns+"OUTtraj_jog", ros_topics.traj_jog); nh.getParam(param_ns+"OUTtraj_jog", ros_topics.traj_jog);
nh.getParam(param_ns+"robot_model_name", robot_data.robot_model_name); nh.getParam(param_ns+"robot_model_name", robot_data.robot_model_name);
nh.getParam(param_ns+"move_group_name", robot_data.move_group_name); nh.getParam(param_ns+"move_group_name", robot_data.move_group_name);
nh.getParam(param_ns+"joint_defaults/jointHomePosition", robot_data.joint_homes);
nh.getParam("/roboglue_ros_follower/jog_pub_rate", jogPubRate); nh.getParam("/roboglue_ros_follower/jog_pub_rate", jogPubRate);
/// set spinner rate /// /// set spinner rate ///
@@ -247,7 +250,7 @@ int main(int argc, char **argv) {
//////////////////////////////////////// ////////////////////////////////////////
// TODO: aggiungere la possibilità di resettare i giunti nella configurazione home a comando da interfaccia // TODO: aggiungere la possibilità di resettare i giunti nella configurazione home a comando da interfaccia
bool resetModelJointsHome(geometry_msgs::Pose home_pos, bool execute=false) {{ bool resetModelJointsHome(geometry_msgs::Pose home_pos, bool execute=false) {
ROS_DEBUG("Setting joint position to home"); ROS_DEBUG("Setting joint position to home");
if (execute){ if (execute){
return false; return false;