Made calibration extraction a working node.

ur_calibration/include/ur_calibration/calibration.h

@@ -20,6 +20,8 @@
 #include <yaml-cpp/yaml.h>
 #include <fstream>
 
+namespace ur_calibration
+{
 /*!
  * \brief An internal representation of a DH-parametrized link.
  *
@@ -152,7 +154,7 @@ public:
   {
     return robot_parameters_corrected_.toXacroProperties();
   }
-  void writeToYaml(std::ofstream& ofstream) const;
+  YAML::Node toYaml() const;
 
   std::vector<Eigen::Matrix4d> getSimplified() const;
 
@@ -169,4 +171,5 @@ private:
 
   std::vector<Eigen::Matrix4d> chain_;
 };
+}  // namespace ur_calibration
 #endif  // ifndef UR_RTDE_DRIVER_CALIBRATION_H_INCLUDED

ur_calibration/include/ur_calibration/calibration_consumer.h

@@ -0,0 +1,60 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// -- END LICENSE BLOCK ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Felix Mauch mauch@fzi.de
+ * \date    2019-05-28
+ *
+ */
+//----------------------------------------------------------------------
+
+#ifndef UR_CALIBRATION_CALIBRATION_CONSUMER_H_INCLUDED
+#define UR_CALIBRATION_CALIBRATION_CONSUMER_H_INCLUDED
+#include <ur_rtde_driver/comm/pipeline.h>
+
+#include <ur_rtde_driver/primary/robot_state/kinematics_info.h>
+
+#include <ur_calibration/calibration.h>
+
+namespace ur_calibration
+{
+class CalibrationConsumer
+  : public ur_driver::comm::IConsumer<ur_driver::comm::URPackage<ur_driver::primary_interface::PackageHeader>>
+{
+public:
+  CalibrationConsumer();
+  virtual ~CalibrationConsumer() = default;
+
+  virtual void setupConsumer()
+  {
+  }
+  virtual void teardownConsumer()
+  {
+  }
+  virtual void stopConsumer()
+  {
+  }
+  virtual void onTimeout()
+  {
+  }
+
+  virtual bool
+  consume(std::shared_ptr<ur_driver::comm::URPackage<ur_driver::primary_interface::PackageHeader>> product);
+
+  bool isCalibrated() const
+  {
+    return calibrated_;
+  }
+
+  YAML::Node getCalibrationParameters() const;
+
+private:
+  bool calibrated_;
+  YAML::Node calibration_parameters_;
+};
+}  // namespace ur_calibration
+#endif  // ifndef UR_CALIBRATION_CALIBRATION_CONSUMER_H_INCLUDED