motor_joint_calibration_controller.cpp
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00034 
00035 #include "joint_qualification_controllers/motor_joint_calibration_controller.h"
00036 #include "ros/time.h"
00037 #include "pluginlib/class_list_macros.h"
00038 
00039 
00040 PLUGINLIB_DECLARE_CLASS(joint_qualification_controllers, MotorJointCalibrationController, 
00041                         joint_qualification_controllers::MotorJointCalibrationController, pr2_controller_interface::Controller)
00042 
00043 using namespace std;
00044 using namespace joint_qualification_controllers;
00045 
00046 
00047 MotorJointCalibrationController::MotorJointCalibrationController()
00048 : robot_(NULL), last_publish_time_(0), joint_(NULL)
00049 {
00050 }
00051 
00052 MotorJointCalibrationController::~MotorJointCalibrationController()
00053 {
00054 }
00055 
00056 bool MotorJointCalibrationController::init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
00057 {
00058   robot_ = robot;
00059   node_ = n;
00060 
00061   // Joint
00062 
00063   std::string joint_name;
00064   if (!node_.getParam("joint", joint_name))
00065   {
00066     ROS_ERROR("No joint given (namespace: %s)", node_.getNamespace().c_str());
00067     return false;
00068   }
00069   if (!(joint_ = robot->getJointState(joint_name)))
00070   {
00071     ROS_ERROR("Could not find joint %s (namespace: %s)",
00072               joint_name.c_str(), node_.getNamespace().c_str());
00073     return false;
00074   }
00075 
00076   // "Calibrated" topic
00077   pub_calibrated_.reset(
00078     new realtime_tools::RealtimePublisher<std_msgs::Empty>(node_, "calibrated", 1));
00079 
00080   // Calibrate at zero, basically
00081   joint_->calibrated_ = true;
00082 
00083   return true;
00084 }
00085 
00086 
00087 void MotorJointCalibrationController::update()
00088 {
00089   assert(joint_);
00090 
00091   if (pub_calibrated_)
00092   {
00093     if (last_publish_time_ + ros::Duration(0.5) < robot_->getTime())
00094     {
00095       assert(pub_calibrated_);
00096       if (pub_calibrated_->trylock())
00097       {
00098         last_publish_time_ = robot_->getTime();
00099         pub_calibrated_->unlockAndPublish();
00100       }
00101     }
00102   }
00103 
00104 }
00105 


joint_qualification_controllers
Author(s): Kevin Watts, Melonee Wise
autogenerated on Tue Apr 22 2014 19:39:16