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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #include <ros/node.h> 00036 #include <manipulation_msgs/JointTraj.h> 00037 00038 static int done = 0; 00039 00040 void finalize(int donecare) 00041 { 00042 done = 1; 00043 } 00044 00045 int main( int argc, char** argv ) 00046 { 00047 00048 /*********** Initialize ROS ****************/ 00049 ros::init(argc,argv); 00050 ros::Node *node = new ros::Node("test_arm_trajectory_controller"); 00051 00052 signal(SIGINT, finalize); 00053 signal(SIGQUIT, finalize); 00054 signal(SIGTERM, finalize); 00055 00056 00057 /*********** Start moving the robot ************/ 00058 manipulation_msgs::JointTraj cmd; 00059 00060 int num_points = 1; 00061 int num_joints = 10; 00062 00063 cmd.set_points_size(num_points); 00064 00065 for(int i=0; i<num_points; i++) 00066 cmd.points[i].set_positions_size(num_joints); 00067 00068 cmd.points[0].positions[0] = 0.0; 00069 cmd.points[0].positions[1] = 0.0; 00070 cmd.points[0].positions[2] = 0.0; 00071 cmd.points[0].positions[3] = -0.0; 00072 cmd.points[0].positions[4] = 0.0; 00073 cmd.points[0].positions[5] = 0.0; 00074 cmd.points[0].positions[6] = 0.0; 00075 cmd.points[0].positions[7] = -2.0; 00076 cmd.points[0].positions[8] = 0.0; 00077 cmd.points[0].positions[9] = -0.0; 00078 cmd.points[0].time = 0.0; 00079 00080 node->advertise<manipulation_msgs::JointTraj>("base/trajectory_controller/command",1); 00081 sleep(1); 00082 node->publish("base/trajectory_controller/command",cmd); 00083 sleep(4); 00084 00085 }