abb_joint_downloader_node.cpp
Go to the documentation of this file.
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 #include "abb_common/abb_utils.h"
00033 #include "industrial_robot_client/joint_trajectory_downloader.h"
00034 #include "industrial_utils/param_utils.h"
00035 
00036 using industrial_robot_client::joint_trajectory_downloader::JointTrajectoryDownloader;
00037 namespace StandardSocketPorts = industrial::simple_socket::StandardSocketPorts;
00038 
00039 class ABB_JointTrajectoryDownloader : public JointTrajectoryDownloader
00040 {
00041   using JointTrajectoryDownloader::init;  // so base-class init() stays visible
00042 
00043   bool J23_coupled_;
00044 
00045 public:
00046   bool init(std::string default_ip = "", int default_port = StandardSocketPorts::MOTION)
00047   {
00048     if (!JointTrajectoryDownloader::init(default_ip, default_port))  // call base-class init()
00049       return false;
00050 
00051     if (ros::param::has("J23_coupled"))
00052       ros::param::get("J23_coupled", this->J23_coupled_);
00053     else
00054       J23_coupled_ = false;
00055 
00056     return true;
00057   }
00058 
00059   bool transform(const trajectory_msgs::JointTrajectoryPoint& pt_in, trajectory_msgs::JointTrajectoryPoint* pt_out)
00060   {
00061     // correct for parallel linkage effects, if desired
00062     //   - use POSITIVE factor for joint->motor correction
00063     abb::utils::linkage_transform(pt_in, pt_out, J23_coupled_ ? +1:0 );
00064 
00065     return true;
00066   }
00067 
00068   bool calc_velocity(const trajectory_msgs::JointTrajectoryPoint& pt, double* rbt_velocity)
00069   {
00070     *rbt_velocity = 0;  // unused by ABB driver
00071     return true;
00072   }
00073 };
00074 
00075 int main(int argc, char** argv)
00076 {
00077   // initialize node
00078   ros::init(argc, argv, "motion_interface");
00079 
00080   // launch the default JointTrajectoryDownloader connection/handlers
00081   ABB_JointTrajectoryDownloader motionInterface;
00082   motionInterface.init();
00083   motionInterface.run();
00084 
00085   return 0;
00086 }


abb_common
Author(s): Shaun Edwards
autogenerated on Thu Aug 27 2015 11:57:16