Obbart/universal_robots_ros_driver
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Clang-format run

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This commit is contained in:
Simon Rasmussen
2017-07-09 02:54:49 +02:00
parent 577fcdbf98
commit 3a5fa23f6b
31 changed files with 343 additions and 343 deletions
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32
src/ros_main.cpp
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@@ -11,8 +11,8 @@
#include "ur_modern_driver/ros/io_service.h"
#include "ur_modern_driver/ros/mb_publisher.h"
#include "ur_modern_driver/ros/rt_publisher.h"
#include "ur_modern_driver/ros/trajectory_follower.h"
#include "ur_modern_driver/ros/service_stopper.h"
#include "ur_modern_driver/ros/trajectory_follower.h"
#include "ur_modern_driver/ur/commander.h"
#include "ur_modern_driver/ur/factory.h"
#include "ur_modern_driver/ur/messages.h"
@@ -30,14 +30,8 @@ static const std::string BASE_FRAME_ARG("~base_frame");
static const std::string TOOL_FRAME_ARG("~tool_frame");
static const std::string JOINT_NAMES_PARAM("hardware_interface/joints");
static const std::vector<std::string> DEFAULT_JOINTS = {
"shoulder_pan_joint",
"shoulder_lift_joint",
"elbow_joint",
"wrist_1_joint",
"wrist_2_joint",
"wrist_3_joint"
};
static const std::vector<std::string> DEFAULT_JOINTS = { "shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint",
"wrist_1_joint", "wrist_2_joint", "wrist_3_joint" };
static const int UR_SECONDARY_PORT = 30002;
static const int UR_RT_PORT = 30003;
@@ -65,7 +59,7 @@ bool parse_args(ProgArgs &args)
return false;
}
ros::param::param(REVERSE_PORT_ARG, args.reverse_port, int32_t(50001));
ros::param::param(MAX_VEL_CHANGE_ARG, args.max_vel_change, 15.0); // rad/s
ros::param::param(MAX_VEL_CHANGE_ARG, args.max_vel_change, 15.0); // rad/s
ros::param::param(ROS_CONTROL_ARG, args.use_ros_control, false);
ros::param::param(PREFIX_ARG, args.prefix, std::string());
ros::param::param(BASE_FRAME_ARG, args.base_frame, args.prefix + "base_link");
@@ -74,7 +68,7 @@ bool parse_args(ProgArgs &args)
return true;
}
std::string getLocalIPAccessibleFromHost(std::string& host)
std::string getLocalIPAccessibleFromHost(std::string &host)
{
URStream stream(host, UR_RT_PORT);
return stream.connect() ? stream.getIP() : std::string();
@@ -91,9 +85,9 @@ int main(int argc, char **argv)
}
std::string local_ip(getLocalIPAccessibleFromHost(args.host));
URFactory factory(args.host);
vector<Service*> services;
vector<Service *> services;
// RT packets
auto rt_parser = factory.getRTParser();
@@ -101,7 +95,7 @@ int main(int argc, char **argv)
URProducer<RTPacket> rt_prod(rt_stream, *rt_parser);
RTPublisher rt_pub(args.prefix, args.base_frame, args.tool_frame, args.use_ros_control);
auto rt_commander = factory.getCommander(rt_stream);
vector<IConsumer<RTPacket> *> rt_vec{&rt_pub};
vector<IConsumer<RTPacket> *> rt_vec{ &rt_pub };
TrajectoryFollower traj_follower(*rt_commander, local_ip, args.reverse_port, factory.isVersion3());
@@ -130,10 +124,10 @@ int main(int argc, char **argv)
URStream state_stream(args.host, UR_SECONDARY_PORT);
URProducer<StatePacket> state_prod(state_stream, *state_parser);
MBPublisher state_pub;
ServiceStopper service_stopper(services);
vector<IConsumer<StatePacket> *> state_vec{&state_pub, &service_stopper};
vector<IConsumer<StatePacket> *> state_vec{ &state_pub, &service_stopper };
MultiConsumer<StatePacket> state_cons(state_vec);
Pipeline<StatePacket> state_pl(state_prod, state_cons);
@@ -145,7 +139,7 @@ int main(int argc, char **argv)
auto state_commander = factory.getCommander(state_stream);
IOService io_service(*state_commander);
if(action_server)
if (action_server)
action_server->start();
ros::spin();
@@ -154,8 +148,8 @@ int main(int argc, char **argv)
rt_pl.stop();
state_pl.stop();
if(controller)
if (controller)
delete controller;
LOG_INFO("Pipelines shutdown complete");