Obbart/universal_robots_ros_driver
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Publish tool twist and get base and tool frame names from parameters

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This commit is contained in:
Simon
2015-11-13 15:00:52 +01:00
parent 4cdceac791
commit d24019b0d1
2 changed files with 37 additions and 20 deletions
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5
launch/ur_common.launch
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@@ -12,7 +12,8 @@
<arg name="min_payload" />
<arg name="max_payload" />
<arg name="servoj_time" default="0.008" />
<arg name="base_frame" default="base"/>
<arg name="tool_frame" default="tool0_controller"/>
<!-- The max_velocity parameter is only used for debugging in the ur_driver. It's not related to actual velocity limits -->
<arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
@@ -27,5 +28,7 @@
<param name="max_payload" type="double" value="$(arg max_payload)" />
<param name="max_velocity" type="double" value="$(arg max_velocity)" />
<param name="servoj_time" type="double" value="$(arg servoj_time)" />
<param name="base_frame" type="str" value="$(arg base_frame)"/>
<param name="tool_frame" type="str" value="$(arg tool_frame)"/>
</node>
</launch>

52
src/ur_ros_wrapper.cpp
View File

@@ -74,6 +74,8 @@ protected:
double io_flag_delay_;
double max_velocity_;
std::vector<double> joint_offsets_;
std::string base_frame_;
std::string tool_frame_;
bool use_ros_control_;
std::thread* ros_control_thread_;
boost::shared_ptr<ros_control_ur::UrHardwareInterface> hardware_interface_;
@@ -154,6 +156,18 @@ public:
}
robot_.setServojTime(servoj_time);
//Base and tool frames
base_frame_ = "base";
tool_frame_ = "tool0_controller";
if (ros::param::get("~base_frame", base_frame_)) {
sprintf(buf, "Base frame set to: %s", base_frame_.c_str());
print_debug(buf);
}
if (ros::param::get("~tool_frame", tool_frame_)) {
sprintf(buf, "Tool frame set to: %s", tool_frame_.c_str());
print_debug(buf);
}
if (robot_.start()) {
if (use_ros_control_) {
ros_control_thread_ = new std::thread(
@@ -546,7 +560,7 @@ private:
"joint_states", 1);
ros::Publisher wrench_pub = nh_.advertise<geometry_msgs::WrenchStamped>(
"wrench", 1);
ros::Publisher tool_pose_pub = nh_.advertise<geometry_msgs::PoseStamped>("tool_pose", 1);
ros::Publisher tool_vel_pub = nh_.advertise<geometry_msgs::TwistStamped>("tool_velocity", 1);
static tf::TransformBroadcaster br;
while (ros::ok()) {
sensor_msgs::JointState joint_msg;
@@ -581,36 +595,36 @@ private:
// Tool vector: Actual Cartesian coordinates of the tool: (x,y,z,rx,ry,rz), where rx, ry and rz is a rotation vector representation of the tool orientation
std::vector<double> tool_vector_actual = robot_.rt_interface_->robot_state_->getToolVectorActual();
tool_pose_msg.pose.position.x = tool_vector_actual[0];
tool_pose_msg.pose.position.y = tool_vector_actual[1];
tool_pose_msg.pose.position.z = tool_vector_actual[2];
//Create quaternion
tf::Quaternion quat;
// quat.setEuler(tool_vector_actual[4], tool_vector_actual[3], tool_vector_actual[5]);
double rx = tool_vector_actual[3];
double ry = tool_vector_actual[4];
double rz = tool_vector_actual[5];
double angle = std::sqrt(rx*rx + ry*ry + rz*rz);
rx = rx/angle;
ry = ry/angle;
rz = rz/angle;
quat.setRotation(tf::Vector3(rx, ry, rz), angle);
// quat.setRotation(tf::Vector3(1,0,0), tool_vector_actual[3]);
// quat.setRotation(tf::Vector3(0,1,0), tool_vector_actual[4]);
// quat.setRotation(tf::Vector3(0,0,1), tool_vector_actual[5]);
// quat.setRPY(tool_vector_actual[3], tool_vector_actual[4], tool_vector_actual[5]);
tf::quaternionTFToMsg(quat, tool_pose_msg.pose.orientation);
tool_pose_pub.publish(tool_pose_msg);
double angle = std::sqrt(std::pow(rx,2) + std::pow(ry,2) + std::pow(rz,2));
quat.setRotation(tf::Vector3(rx/angle, ry/angle, rz/angle), angle);
//Create and broadcast transform
tf::Transform transform;
transform.setOrigin(tf::Vector3(tool_vector_actual[0], tool_vector_actual[1], tool_vector_actual[2]));
transform.setRotation(quat);
br.sendTransform(tf::StampedTransform(transform, joint_msg.header.stamp, base_frame_, tool_frame_));
br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "philips/ur_base_link", "philips/ur_ee_link_calibrated"));
//Publish tool velocity
std::vector<double> tcp_speed =
robot_.rt_interface_->robot_state_->getTcpSpeedActual();
geometry_msgs::TwistStamped tool_twist;
tool_twist.header.frame_id = tool_frame_;
tool_twist.header.stamp = joint_msg.header.stamp;
tool_twist.twist.linear.x = tcp_speed[0];
tool_twist.twist.linear.y = tcp_speed[1];
tool_twist.twist.linear.z = tcp_speed[2];
tool_twist.twist.angular.x = tcp_speed[3];
tool_twist.twist.angular.y = tcp_speed[4];
tool_twist.twist.angular.z = tcp_speed[5];
tool_vel_pub.publish(tool_twist);
robot_.rt_interface_->robot_state_->setDataPublished();
}
}