abb_robot_state_node.cpp

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#include "abb_common/abb_utils.h"
#include "industrial_robot_client/robot_state_interface.h"
#include "industrial_utils/param_utils.h"

using industrial_robot_client::robot_state_interface::RobotStateInterface;
using industrial_robot_client::joint_relay_handler::JointRelayHandler;
using industrial_utils::param::getJointNames;

class ABB_JointRelayHandler : public JointRelayHandler
{
  bool J23_coupled_;

public:
  ABB_JointRelayHandler() : JointRelayHandler()
  {
    if (ros::param::has("J23_coupled"))
      ros::param::get("J23_coupled", this->J23_coupled_);
    else
      J23_coupled_ = false;
  }

  bool transform(const std::vector<double>& pos_in, std::vector<double>* pos_out)
  {
    // correct for parallel linkage effects, if desired
    //   - use NEGATIVE factor for motor->joint correction
    abb::utils::linkage_transform(pos_in, pos_out, J23_coupled_ ? -1:0 );

    return true;
  }
};

int main(int argc, char** argv)
{
  // initialize node
  ros::init(argc, argv, "state_interface");

  // launch the default Robot State Interface connection/handlers
  RobotStateInterface rsi;
  rsi.init();

  // replace the JointRelayHandler with ABB-version
  ABB_JointRelayHandler jointHandler;  // for joint-linkage correction
  std::vector<std::string> joint_names;
  getJointNames("controller_joint_names", joint_names);
  jointHandler.init(rsi.get_connection(), joint_names);
  rsi.add_handler(&jointHandler);

  // run the node
  rsi.run();

  return 0;
}