Obbart/universal_robots_ros_driver
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Code Releases Activity

Added ROS hooks for services

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This commit is contained in:
Thomas Timm Andersen
2015-09-10 10:48:43 +02:00
parent b98e57a475
commit a7d3f78f0f
1 changed files with 9 additions and 3 deletions
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12
src/ur_ros_wrapper.cpp
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@@ -32,15 +32,18 @@
class RosWrapper { class RosWrapper {
protected: protected:
UrDriver robot_;
std::condition_variable msg_cond_;
ros::NodeHandle nh_; ros::NodeHandle nh_;
actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction> as_; actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction> as_;
actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction>::Goal goal_; actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction>::Goal goal_;
control_msgs::FollowJointTrajectoryFeedback feedback_; control_msgs::FollowJointTrajectoryFeedback feedback_;
control_msgs::FollowJointTrajectoryResult result_; control_msgs::FollowJointTrajectoryResult result_;
ros::Subscriber speedSub_; ros::Subscriber speedSub_;
UrDriver robot_; ros::ServiceServer ioSrv_;
ros::ServiceServer payloadSrv_;
std::thread* rt_publish_thread_; std::thread* rt_publish_thread_;
std::condition_variable msg_cond_;
public: public:
RosWrapper(std::string host) : RosWrapper(std::string host) :
as_(nh_, "follow_joint_trajectory", false), robot_(msg_cond_, host) { as_(nh_, "follow_joint_trajectory", false), robot_(msg_cond_, host) {
@@ -71,6 +74,9 @@ public:
speedSub_ = nh_.subscribe("joint_speed", 1, &RosWrapper::speedInterface, speedSub_ = nh_.subscribe("joint_speed", 1, &RosWrapper::speedInterface,
this); this);
ioSrv_ = nh_.advertiseService("ur_driver/set_io", &RosWrapper::setIO, this);
payloadSrv_ = nh_.advertiseService("ur_driver/set_payload", &RosWrapper::setPayload, this);
rt_publish_thread_ = new std::thread( rt_publish_thread_ = new std::thread(
boost::bind(&RosWrapper::publishRTMsg, this)); boost::bind(&RosWrapper::publishRTMsg, this));
ROS_INFO("The action server for this driver has been started"); ROS_INFO("The action server for this driver has been started");
@@ -145,7 +151,7 @@ private:
return resp.success; return resp.success;
} }
bool setPayloaf(ur_msgs::SetPayloadRequest& req, bool setPayload(ur_msgs::SetPayloadRequest& req,
ur_msgs::SetPayloadResponse& resp) { ur_msgs::SetPayloadResponse& resp) {
robot_.setPayloaf(req.payload); robot_.setPayloaf(req.payload);
resp.success = true; resp.success = true;