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Modifica angoli RPY per tenere utensile perpendicolare al terreno

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This commit is contained in:
Emanuele
2019-11-19 09:20:45 +01:00
parent dde6d1e083
commit ba5ed10349
3 changed files with 55 additions and 54 deletions
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100
src/roboglue_ros/config/data/test99.data
View File

@@ -1,51 +1,51 @@
N,X,Y,Z,rR,rP,rY,DT,DS
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N49,0.348000,0.324000,0.500000,1.570000,-2.680000,0.000000,4.876254,0.030000
N0,0.018000,0.306000,0.500000,0.000000,1.571000,1.571000,0.000000,0.000000
N1,0.018000,0.312000,0.500000,0.000000,1.571000,1.571000,0.095493,0.006000
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N5,-0.024000,0.312000,0.500000,0.000000,1.571000,1.571000,0.477276,0.021633
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N7,-0.048000,0.258000,0.500000,0.000000,1.571000,1.571000,0.674398,0.034986
N8,-0.060000,0.246000,0.500000,0.000000,1.571000,1.571000,0.779036,0.016971
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N10,-0.078000,0.240000,0.500000,0.000000,1.571000,1.571000,0.985584,0.012000
N11,-0.126000,0.240000,0.500000,0.000000,1.571000,1.571000,1.076938,0.048000
N12,-0.150000,0.240000,0.500000,0.000000,1.571000,1.571000,1.173122,0.024000
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5
src/roboglue_ros/src/roboglue_recorder.cpp
View File

@@ -462,7 +462,7 @@ int main(int argc, char **argv) {
////////////////////////////////////////
bool openFile(internalState* is, fileData* fd, nlohmann::json meta){
if (!is->isFileOpen){
if (!is->isFileOpen && !meta["name"].get<std::string>().empty()){
// open metafile by name
std::string metaInFilename = fd->meta_dir_name + meta["name"].get<std::string>() + fd->meta_ext;
ROS_DEBUG("Opening Meta File: [%s]", metaInFilename.c_str());
@@ -530,6 +530,7 @@ bool openFile(internalState* is, fileData* fd, nlohmann::json meta){
return false;
}
}
return false;
}
bool closeFile(internalState* is, fileData* fd){
@@ -544,7 +545,7 @@ bool closeFile(internalState* is, fileData* fd){
}
fd->playVect->clear();
fd->recordVect->clear();
}
} return true;
}
bool startRecord(internalState* is, fileData* fd, nlohmann::json meta){

4
src/roboglue_ros/src/roboglue_utils.cpp
View File

@@ -105,8 +105,8 @@ geometry_msgs::PoseStamped twist2Pose(geometry_msgs::TwistStamped twt){
newPoseStamp.pose.position.x = twt.twist.linear.x;
newPoseStamp.pose.position.z = twt.twist.linear.z;
// FIXME ripristinare il calcolo con le coordinate di posa dal tracker, ora gli assi sono fissi
//qt.setRPY(twPose.twist.angular.x, twPose.twist.angular.y, twPose.twist.angular.z);
qt.setRPY(0, M_PI/2, M_PI/2);
qt.setRPY(twt.twist.angular.x, twt.twist.angular.y, twt.twist.angular.z);
//qt.setRPY(0, M_PI/2, M_PI/2);
newPoseStamp.pose.orientation.x = qt.x();
newPoseStamp.pose.orientation.y = qt.y();
newPoseStamp.pose.orientation.z = qt.z();