joint_trajectory_interface.h
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00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  * Copyright (c) 2013, Southwest Research Institute
00005  * All rights reserved.
00006  *
00007  * Redistribution and use in source and binary forms, with or without
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00012  *       * Redistributions in binary form must reproduce the above copyright
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00015  *       * Neither the name of the Southwest Research Institute, nor the names
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00017  *       from this software without specific prior written permission.
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00019  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00031 
00032 #ifndef JOINT_TRAJECTORY_INTERFACE_H
00033 #define JOINT_TRAJECTORY_INTERFACE_H
00034 
00035 #include <map>
00036 #include <vector>
00037 #include <string>
00038 
00039 #include "ros/ros.h"
00040 #include "industrial_msgs/CmdJointTrajectory.h"
00041 #include "industrial_msgs/StopMotion.h"
00042 #include "sensor_msgs/JointState.h"
00043 #include "simple_message/simple_message.h"
00044 #include "simple_message/smpl_msg_connection.h"
00045 #include "simple_message/socket/tcp_client.h"
00046 #include "simple_message/messages/joint_traj_pt_message.h"
00047 #include "trajectory_msgs/JointTrajectory.h"
00048 
00049 namespace industrial_robot_client
00050 {
00051 namespace joint_trajectory_interface
00052 {
00053 
00054   using industrial::smpl_msg_connection::SmplMsgConnection;
00055   using industrial::tcp_client::TcpClient;
00056   using industrial::joint_traj_pt_message::JointTrajPtMessage;
00057   using industrial::simple_message::SimpleMessage;
00058   namespace StandardSocketPorts = industrial::simple_socket::StandardSocketPorts;
00059 
00066 class JointTrajectoryInterface
00067 {
00068 
00069 public:
00070 
00074     JointTrajectoryInterface() : default_joint_pos_(0.0), default_vel_ratio_(0.1), default_duration_(10.0) {};
00075 
00086     virtual bool init(std::string default_ip = "", int default_port = StandardSocketPorts::MOTION);
00087 
00095     virtual bool init(SmplMsgConnection* connection);
00096 
00109   virtual bool init(SmplMsgConnection* connection, const std::vector<std::string> &joint_names,
00110                     const std::map<std::string, double> &velocity_limits = std::map<std::string, double>());
00111 
00112   virtual ~JointTrajectoryInterface();
00113 
00117   virtual void run() { ros::spin(); }
00118 
00119 protected:
00120 
00124   virtual void trajectoryStop();
00125 
00135   virtual bool trajectory_to_msgs(const trajectory_msgs::JointTrajectoryConstPtr &traj, std::vector<SimpleMessage>* msgs);
00136 
00146   virtual bool transform(const trajectory_msgs::JointTrajectoryPoint& pt_in, trajectory_msgs::JointTrajectoryPoint* pt_out)
00147   {
00148     *pt_out = pt_in;  // by default, no transform is applied
00149     return true;
00150   }
00151 
00162   virtual bool select(const std::vector<std::string>& ros_joint_names, const trajectory_msgs::JointTrajectoryPoint& ros_pt,
00163                       const std::vector<std::string>& rbt_joint_names, trajectory_msgs::JointTrajectoryPoint* rbt_pt);
00164 
00174   virtual bool create_message(int seq, const trajectory_msgs::JointTrajectoryPoint &pt, SimpleMessage* msg);
00175 
00185   virtual bool calc_velocity(const trajectory_msgs::JointTrajectoryPoint& pt, double* rbt_velocity);
00186 
00196   virtual bool calc_duration(const trajectory_msgs::JointTrajectoryPoint& pt, double* rbt_duration);
00197 
00206   virtual bool send_to_robot(const std::vector<SimpleMessage>& messages)=0;
00207 
00214   virtual void jointTrajectoryCB(const trajectory_msgs::JointTrajectoryConstPtr &msg);
00215 
00224   virtual bool stopMotionCB(industrial_msgs::StopMotion::Request &req,
00225                             industrial_msgs::StopMotion::Response &res);
00226 
00233   virtual bool is_valid(const trajectory_msgs::JointTrajectory &traj);
00234 
00235   /*
00236    * \brief Callback for JointState topic
00237    *
00238    * \param msg JointState message
00239    */
00240   virtual void jointStateCB(const sensor_msgs::JointStateConstPtr &msg);
00241 
00242   TcpClient default_tcp_connection_;
00243 
00244   ros::NodeHandle node_;
00245   SmplMsgConnection* connection_;
00246   ros::Subscriber sub_cur_pos_;  // handle for joint-state topic subscription
00247   ros::Subscriber sub_joint_trajectory_; // handle for joint-trajectory topic subscription
00248   ros::ServiceServer srv_joint_trajectory_;  // handle for joint-trajectory service
00249   ros::ServiceServer srv_stop_motion_;   // handle for stop_motion service
00250   std::vector<std::string> all_joint_names_;
00251   double default_joint_pos_;  // default position to use for "dummy joints", if none specified
00252   double default_vel_ratio_;  // default velocity ratio to use for joint commands, if no velocity or max_vel specified
00253   double default_duration_;   // default duration to use for joint commands, if no
00254   std::map<std::string, double> joint_vel_limits_;  // cache of max joint velocities from URDF
00255   sensor_msgs::JointState cur_joint_pos_;  // cache of last received joint state
00256 
00257 private:
00266   bool jointTrajectoryCB(industrial_msgs::CmdJointTrajectory::Request &req,
00267                          industrial_msgs::CmdJointTrajectory::Response &res);
00268 };
00269 
00270 } //joint_trajectory_interface
00271 } //industrial_robot_client
00272 
00273 #endif /* JOINT_TRAJECTORY_INTERFACE_H */
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fs100
Author(s): Jeremy Zoss (Southwest Research Institute)
autogenerated on Mon May 27 2013 19:43:14