Obbart/universal_robots_ros_driver
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changed to use goal_handle_ instead of goal_

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This commit is contained in:
Thomas Timm Andersen
2015-10-08 17:23:19 +02:00
parent e970a99b01
commit e354ada3ab
1 changed files with 33 additions and 28 deletions
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61
src/ur_ros_wrapper.cpp
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@@ -48,7 +48,7 @@ protected:
std::condition_variable msg_cond_; std::condition_variable msg_cond_;
ros::NodeHandle nh_; ros::NodeHandle nh_;
actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction> as_; actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction> as_;
actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction>::Goal goal_; actionlib::ServerGoalHandle<control_msgs::FollowJointTrajectoryAction>* goal_handle_;
control_msgs::FollowJointTrajectoryFeedback feedback_; control_msgs::FollowJointTrajectoryFeedback feedback_;
control_msgs::FollowJointTrajectoryResult result_; control_msgs::FollowJointTrajectoryResult result_;
ros::Subscriber speed_sub_; ros::Subscriber speed_sub_;
@@ -180,13 +180,13 @@ private:
actionlib::ServerGoalHandle< actionlib::ServerGoalHandle<
control_msgs::FollowJointTrajectoryAction> gh) { control_msgs::FollowJointTrajectoryAction> gh) {
print_info("on_goal"); print_info("on_goal");
goal_handle_ = &gh;
goal_ = *gh.getGoal(); //make a copy that we can modify actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction>::Goal goal = *goal_handle_->getGoal(); //make a copy that we can modify
if (!validateJointNames()) { if (!validateJointNames()) {
std::string outp_joint_names = ""; std::string outp_joint_names = "";
for (unsigned int i = 0; i < goal_.trajectory.joint_names.size(); for (unsigned int i = 0; i < goal.trajectory.joint_names.size();
i++) { i++) {
outp_joint_names += goal_.trajectory.joint_names[i] + " "; outp_joint_names += goal.trajectory.joint_names[i] + " ";
} }
result_.error_code = result_.INVALID_JOINTS; result_.error_code = result_.INVALID_JOINTS;
result_.error_string = result_.error_string =
@@ -225,14 +225,14 @@ private:
print_error(result_.error_string); print_error(result_.error_string);
} }
reorder_traj_joints(goal_.trajectory); reorder_traj_joints(goal.trajectory);
std::vector<double> timestamps; std::vector<double> timestamps;
std::vector<std::vector<double> > positions, velocities; std::vector<std::vector<double> > positions, velocities;
for (unsigned int i = 0; i < goal_.trajectory.points.size(); i++) { for (unsigned int i = 0; i < goal.trajectory.points.size(); i++) {
timestamps.push_back( timestamps.push_back(
goal_.trajectory.points[i].time_from_start.toSec()); goal.trajectory.points[i].time_from_start.toSec());
positions.push_back(goal_.trajectory.points[i].positions); positions.push_back(goal.trajectory.points[i].positions);
velocities.push_back(goal_.trajectory.points[i].velocities); velocities.push_back(goal.trajectory.points[i].velocities);
} }
gh.setAccepted(); gh.setAccepted();
@@ -285,16 +285,17 @@ private:
bool validateJointNames() { bool validateJointNames() {
std::vector<std::string> actual_joint_names = robot_.getJointNames(); std::vector<std::string> actual_joint_names = robot_.getJointNames();
if (goal_.trajectory.joint_names.size() != actual_joint_names.size()) actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction>::Goal goal = *goal_handle_->getGoal();
if (goal.trajectory.joint_names.size() != actual_joint_names.size())
return false; return false;
for (unsigned int i = 0; i < goal_.trajectory.joint_names.size(); i++) { for (unsigned int i = 0; i < goal.trajectory.joint_names.size(); i++) {
unsigned int j; unsigned int j;
for (j = 0; j < actual_joint_names.size(); j++) { for (j = 0; j < actual_joint_names.size(); j++) {
if (goal_.trajectory.joint_names[i] == actual_joint_names[j]) if (goal.trajectory.joint_names[i] == actual_joint_names[j])
break; break;
} }
if (goal_.trajectory.joint_names[i] == actual_joint_names[j]) { if (goal.trajectory.joint_names[i] == actual_joint_names[j]) {
actual_joint_names.erase(actual_joint_names.begin() + j); actual_joint_names.erase(actual_joint_names.begin() + j);
} else { } else {
return false; return false;
@@ -335,30 +336,33 @@ private:
} }
bool has_velocities() { bool has_velocities() {
for (unsigned int i = 0; i < goal_.trajectory.points.size(); i++) { actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction>::Goal goal = *goal_handle_->getGoal();
if (goal_.trajectory.points[i].positions.size() for (unsigned int i = 0; i < goal.trajectory.points.size(); i++) {
!= goal_.trajectory.points[i].velocities.size()) if (goal.trajectory.points[i].positions.size()
!= goal.trajectory.points[i].velocities.size())
return false; return false;
} }
return true; return true;
} }
bool has_positions() { bool has_positions() {
if (goal_.trajectory.points.size() == 0) actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction>::Goal goal = *goal_handle_->getGoal();
if (goal.trajectory.points.size() == 0)
return false; return false;
for (unsigned int i = 0; i < goal_.trajectory.points.size(); i++) { for (unsigned int i = 0; i < goal.trajectory.points.size(); i++) {
if (goal_.trajectory.points[i].positions.size() if (goal.trajectory.points[i].positions.size()
!= goal_.trajectory.joint_names.size()) != goal.trajectory.joint_names.size())
return false; return false;
} }
return true; return true;
} }
bool has_limited_velocities() { bool has_limited_velocities() {
for (unsigned int i = 0; i < goal_.trajectory.points.size(); i++) { actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction>::Goal goal = *goal_handle_->getGoal();
for (unsigned int i = 0; i < goal.trajectory.points.size(); i++) {
for (unsigned int j = 0; for (unsigned int j = 0;
j < goal_.trajectory.points[i].velocities.size(); j++) { j < goal.trajectory.points[i].velocities.size(); j++) {
if (fabs(goal_.trajectory.points[i].velocities[j]) if (fabs(goal.trajectory.points[i].velocities[j])
> max_velocity_) > max_velocity_)
return false; return false;
} }
@@ -367,12 +371,13 @@ private:
} }
bool traj_is_finite() { bool traj_is_finite() {
for (unsigned int i = 0; i < goal_.trajectory.points.size(); i++) { actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction>::Goal goal = *goal_handle_->getGoal();
for (unsigned int i = 0; i < goal.trajectory.points.size(); i++) {
for (unsigned int j = 0; for (unsigned int j = 0;
j < goal_.trajectory.points[i].velocities.size(); j++) { j < goal.trajectory.points[i].velocities.size(); j++) {
if (!std::isfinite(goal_.trajectory.points[i].positions[j])) if (!std::isfinite(goal.trajectory.points[i].positions[j]))
return false; return false;
if (!std::isfinite(goal_.trajectory.points[i].velocities[j])) if (!std::isfinite(goal.trajectory.points[i].velocities[j]))
return false; return false;
} }
} }