Obbart/RoboGlue_ROS
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Aggiunta funzione per portare il robot in configurazione Home da

Browse Source 
interfaccia grafica, da implementare
This commit is contained in:
Emanuele
2019-10-23 11:14:23 +02:00
parent a8149e5f72
commit 9798178623
3 changed files with 101 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files

102
roboglue_ros_ws.workspace.user
View File

@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 4.9.1, 2019-10-23T10:43:57. -->
<!-- Written by QtCreator 4.9.1, 2019-10-23T10:49:15. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>
@@ -72,7 +72,7 @@
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{b917fd33-cfca-4cf9-a8d9-025510846768}</value>
<value type="int" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</value>
<value type="int" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
<value type="int" key="ProjectExplorer.Target.ActiveRunConfiguration">1</value>
<value type="int" key="ProjectExplorer.Target.ActiveRunConfiguration">2</value>
<valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.0">
<value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory"></value>
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
@@ -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_ROOT=/opt/ros/kinetic/share/ros</value>
<value type="QString">ROS_VERSION=1</value>
<value type="QString">SHLVL=172</value>
<value type="QString">SHLVL=178</value>
<value type="QString">TERM=xterm</value>
<value type="QString">_=/usr/bin/env</value>
</valuelist>
@@ -471,19 +471,6 @@
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ROSProjectManager.RunStepList</value>
<valuemap type="QVariantMap" key="ProjectExplorer.RunStepList.Step.0">
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName"></value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ROSProjectManager.ROSAttachToNode</value>
<value type="bool" key="ProjectExplorer.RunStep.Enabled">false</value>
<value type="QString" key="ROSProjectManager.ROSGenericStep.Arguments"></value>
<value type="QString" key="ROSProjectManager.ROSGenericStep.Command">debug</value>
<value type="bool" key="ROSProjectManager.ROSGenericStep.DebugContinueOnAttach">false</value>
<value type="QString" key="ROSProjectManager.ROSGenericStep.Package">roboglue_ros</value>
<value type="QString" key="ROSProjectManager.ROSGenericStep.PackagePath">/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/roboglue_ros</value>
<value type="QString" key="ROSProjectManager.ROSGenericStep.Target">roboglue_ros_recorder</value>
<value type="QString" key="ROSProjectManager.ROSGenericStep.TargetPath">/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/devel/lib/roboglue_ros/roboglue_ros_recorder</value>
</valuemap>
<valuemap type="QVariantMap" key="ProjectExplorer.RunStepList.Step.1">
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName"></value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ROSProjectManager.ROSLaunchStep</value>
@@ -496,7 +483,7 @@
<value type="QString" key="ROSProjectManager.ROSGenericStep.Target">roboglue_ros_urdriver.launch</value>
<value type="QString" key="ROSProjectManager.ROSGenericStep.TargetPath">/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/roboglue_ros/launch/roboglue_ros_urdriver.launch</value>
</valuemap>
<value type="int" key="ProjectExplorer.RunStepList.StepsCount">2</value>
<value type="int" key="ProjectExplorer.RunStepList.StepsCount">1</value>
</valuemap>
<value type="uint" key="RunConfiguration.QmlDebugServerPort">3768</value>
<value type="bool" key="RunConfiguration.UseCppDebugger">false</value>
@@ -505,7 +492,86 @@
<value type="bool" key="RunConfiguration.UseQmlDebugger">false</value>
<value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
</valuemap>
<value type="int" key="ProjectExplorer.Target.RunConfigurationCount">2</value>
<valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.2">
<value type="QString" key="Analyzer.Perf.CallgraphMode">dwarf</value>
<valuelist type="QVariantList" key="Analyzer.Perf.Events">
<value type="QString">cpu-cycles</value>
</valuelist>
<valuelist type="QVariantList" key="Analyzer.Perf.ExtraArguments"/>
<value type="int" key="Analyzer.Perf.Frequency">250</value>
<value type="QString" key="Analyzer.Perf.SampleMode">-F</value>
<value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
<value type="int" key="Analyzer.Perf.StackSize">4096</value>
<value type="bool" key="Analyzer.QmlProfiler.AggregateTraces">false</value>
<value type="bool" key="Analyzer.QmlProfiler.FlushEnabled">false</value>
<value type="uint" key="Analyzer.QmlProfiler.FlushInterval">1000</value>
<value type="QString" key="Analyzer.QmlProfiler.LastTraceFile"></value>
<value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
<valuelist type="QVariantList" key="Analyzer.Valgrind.AddedSuppressionFiles"/>
<value type="bool" key="Analyzer.Valgrind.Callgrind.CollectBusEvents">false</value>
<value type="bool" key="Analyzer.Valgrind.Callgrind.CollectSystime">false</value>
<value type="bool" key="Analyzer.Valgrind.Callgrind.EnableBranchSim">false</value>
<value type="bool" key="Analyzer.Valgrind.Callgrind.EnableCacheSim">false</value>
<value type="bool" key="Analyzer.Valgrind.Callgrind.EnableEventToolTips">true</value>
<value type="double" key="Analyzer.Valgrind.Callgrind.MinimumCostRatio">0.01</value>
<value type="double" key="Analyzer.Valgrind.Callgrind.VisualisationMinimumCostRatio">10</value>
<value type="bool" key="Analyzer.Valgrind.FilterExternalIssues">true</value>
<value type="QString" key="Analyzer.Valgrind.KCachegrindExecutable">kcachegrind</value>
<value type="int" key="Analyzer.Valgrind.LeakCheckOnFinish">1</value>
<value type="int" key="Analyzer.Valgrind.NumCallers">25</value>
<valuelist type="QVariantList" key="Analyzer.Valgrind.RemovedSuppressionFiles"/>
<value type="int" key="Analyzer.Valgrind.SelfModifyingCodeDetection">1</value>
<value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
<value type="bool" key="Analyzer.Valgrind.ShowReachable">false</value>
<value type="bool" key="Analyzer.Valgrind.TrackOrigins">true</value>
<value type="QString" key="Analyzer.Valgrind.ValgrindExecutable">valgrind</value>
<valuelist type="QVariantList" key="Analyzer.Valgrind.VisibleErrorKinds">
<value type="int">0</value>
<value type="int">1</value>
<value type="int">2</value>
<value type="int">3</value>
<value type="int">4</value>
<value type="int">5</value>
<value type="int">6</value>
<value type="int">7</value>
<value type="int">8</value>
<value type="int">9</value>
<value type="int">10</value>
<value type="int">11</value>
<value type="int">12</value>
<value type="int">13</value>
<value type="int">14</value>
</valuelist>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">ROS Run Configuration</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">RoboGlueRUN_urOfficialDriver-noRviz</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ROSProjectManager.ROSRunConfigurationThis is a test</value>
<valuemap type="QVariantMap" key="ROSProjectManager.RunStepList">
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Run</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ROSProjectManager.RunStepList</value>
<valuemap type="QVariantMap" key="ProjectExplorer.RunStepList.Step.0">
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName"></value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ROSProjectManager.ROSLaunchStep</value>
<value type="bool" key="ProjectExplorer.RunStep.Enabled">true</value>
<value type="QString" key="ROSProjectManager.ROSGenericStep.Arguments"></value>
<value type="QString" key="ROSProjectManager.ROSGenericStep.Command">roslaunch</value>
<value type="bool" key="ROSProjectManager.ROSGenericStep.DebugContinueOnAttach">true</value>
<value type="QString" key="ROSProjectManager.ROSGenericStep.Package">roboglue_ros</value>
<value type="QString" key="ROSProjectManager.ROSGenericStep.PackagePath">/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/roboglue_ros</value>
<value type="QString" key="ROSProjectManager.ROSGenericStep.Target">roboglue_ros_urdriver_norviz.launch</value>
<value type="QString" key="ROSProjectManager.ROSGenericStep.TargetPath">/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/roboglue_ros/launch/roboglue_ros_urdriver_norviz.launch</value>
</valuemap>
<value type="int" key="ProjectExplorer.RunStepList.StepsCount">1</value>
</valuemap>
<value type="uint" key="RunConfiguration.QmlDebugServerPort">3768</value>
<value type="bool" key="RunConfiguration.UseCppDebugger">true</value>
<value type="bool" key="RunConfiguration.UseCppDebuggerAuto">false</value>
<value type="bool" key="RunConfiguration.UseMultiProcess">false</value>
<value type="bool" key="RunConfiguration.UseQmlDebugger">false</value>
<value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">false</value>
</valuemap>
<value type="int" key="ProjectExplorer.Target.RunConfigurationCount">3</value>
</valuemap>
</data>
<data>

3
src/roboglue_ros/launch/roboglue_ros_urdriver_norviz.launch
View File

@@ -23,7 +23,8 @@
<param name="OUTcoordinates" type="string" value="/roboglue_com/ros2com/coordinates" />
<param name="OUTdelta_jog" type="string" value="/jog_arm_server/delta_jog_cmds" />
<param name="OUTdelta_joint_jog" type="string" value="/jog_arm_server/delta_joint_jog_cmds" />
<param name="OUTtraj_jog" type="string" value="/pos_based_pos_traj_controller/command" />
<!-- For UR official driver use scalable position controller -->
<param name="OUTtraj_jog" type="string" value="/scaled_pos_traj_controller/command" />
<param name="robot_model_name" type="string" value="robot_description" />
<param name="move_group_name" type="string" value="manipulator" />
<param name="loop_rate" type="int" value="100" />

16
src/roboglue_ros/src/roboglue_follower.cpp
View File

@@ -9,6 +9,7 @@
20190308 - Inserita una funzione che si occupa di effettuare il blocco delle variaili.
20190325 - Implementato uso del ros parameter server per la configurazione del nodo.
Contiene i nomi delle code ros.
20191023 - Passaggio dei commenti a GIT
*/
////////// ROS INCLUDES /////////////
#include "ros/ros.h"
@@ -21,6 +22,7 @@
//////////////////////////////////////////
void testFunction( ros::Publisher* trj_pub);
trajectory_msgs::JointTrajectory composeTrjMessage(std::vector<double> jtpos);
bool resetModelJointsHome(geometry_msgs::Pose, bool);
///////////////////////////////////////////
///////// ROS CALLBACKS //////////////////
@@ -45,7 +47,9 @@ void commandCallback(const std_msgs::String::ConstPtr& msg, internalState* is, p
}
else ROS_ERROR("Invalid acton");
} else if (!command.compare("RECORD") || !command.compare("PLAY") || !command.compare("OPEN")) {
return;
return;
} else if (!command.compare("HOME")) {
// Chiamata alla funzione di reset dei giunti nel modello
} else {
ROS_WARN("Unknown command: %s", command.c_str());
}
@@ -242,6 +246,16 @@ int main(int argc, char **argv) {
///////////// END MAIN /////////////////
////////////////////////////////////////
// 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) {{
ROS_DEBUG("Setting joint position to home");
if (execute){
return false;
} else {
return false;
}
}
trajectory_msgs::JointTrajectory composeTrjMessage(std::vector<double> jtpos){
static trajectory_msgs::JointTrajectory trj;
static double ang=0.0;