00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2012, Southwest Research Institute 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 are met: 00009 * 00010 * * Redistributions of source code must retain the above copyright 00011 * notice, this list of conditions and the following disclaimer. 00012 * * Redistributions in binary form must reproduce the above copyright 00013 * notice, this list of conditions and the following disclaimer in the 00014 * documentation and/or other materials provided with the distribution. 00015 * * Neither the name of the Southwest Research Institute, nor the names 00016 * of its contributors may be used to endorse or promote products derived 00017 * from this software without specific prior written permission. 00018 * 00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00020 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00021 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00022 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00023 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00024 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00025 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00026 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00027 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00028 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00029 * POSSIBILITY OF SUCH DAMAGE. 00030 */ 00031 00032 #ifndef JOINT_TRAJTORY_ACTION_H 00033 #define JOINT_TRAJTORY_ACTION_H 00034 00035 #include <ros/ros.h> 00036 #include <actionlib/server/action_server.h> 00037 00038 #include <trajectory_msgs/JointTrajectory.h> 00039 #include <control_msgs/FollowJointTrajectoryAction.h> 00040 #include <control_msgs/FollowJointTrajectoryFeedback.h> 00041 #include <industrial_msgs/RobotStatus.h> 00042 00043 namespace industrial_robot_client 00044 { 00045 namespace joint_trajectory_action 00046 { 00047 00048 class JointTrajectoryAction 00049 { 00050 00051 public: 00056 JointTrajectoryAction(); 00057 00062 ~JointTrajectoryAction(); 00063 00067 void run() { ros::spin(); } 00068 00069 private: 00070 00071 typedef actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction> JointTractoryActionServer; 00072 00076 ros::NodeHandle node_; 00077 00081 JointTractoryActionServer action_server_; 00082 00086 ros::Publisher pub_trajectory_command_; 00087 00092 ros::Subscriber sub_trajectory_state_; 00093 00098 ros::Subscriber sub_robot_status_; 00099 00104 ros::Timer watchdog_timer_; 00105 00109 bool has_active_goal_; 00110 00114 JointTractoryActionServer::GoalHandle active_goal_; 00118 trajectory_msgs::JointTrajectory current_traj_; 00119 00124 static const double DEFAULT_GOAL_THRESHOLD_ = 0.01; 00125 00133 double goal_threshold_; 00134 00140 std::vector<std::string> joint_names_; 00141 00145 control_msgs::FollowJointTrajectoryFeedbackConstPtr last_trajectory_state_; 00146 00151 bool trajectory_state_recvd_; 00152 00156 industrial_msgs::RobotStatusConstPtr last_robot_status_; 00157 00161 static const double WATCHD0G_PERIOD_ = 1.0; 00162 00169 void watchdog(const ros::TimerEvent &e); 00170 00177 void goalCB(JointTractoryActionServer::GoalHandle & gh); 00178 00186 void cancelCB(JointTractoryActionServer::GoalHandle & gh); 00194 void controllerStateCB(const control_msgs::FollowJointTrajectoryFeedbackConstPtr &msg); 00195 00203 void robotStatusCB(const industrial_msgs::RobotStatusConstPtr &msg); 00204 00211 void abortGoal(); 00212 00223 bool withinGoalConstraints(const control_msgs::FollowJointTrajectoryFeedbackConstPtr &msg, 00224 const trajectory_msgs::JointTrajectory & traj); 00225 }; 00226 00227 } //joint_trajectory_action 00228 } //industrial_robot_client 00229 00230 #endif /* JOINT_TRAJTORY_ACTION_H */