test_arm_trajectory_controller.cpp

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#include <ros/node.h>
#include <manipulation_msgs/JointTraj.h>

static int done = 0;

void finalize(int donecare)
{
  done = 1;
}

int main( int argc, char** argv )
{

  /*********** Initialize ROS  ****************/
  ros::init(argc,argv);
  ros::Node *node = new ros::Node("test_arm_trajectory_controller"); 

  signal(SIGINT,  finalize);
  signal(SIGQUIT, finalize);
  signal(SIGTERM, finalize);


  /*********** Start moving the robot ************/
  manipulation_msgs::JointTraj cmd;

  int num_points = 3;
  int num_joints = 14;

  cmd.set_points_size(num_points);

  for(int i=0; i<num_points; i++)
  {
    cmd.points[i].set_positions_size(num_joints);
    for(int j=0; j < num_joints; j++)
    {
      cmd.points[i].positions[j] = 0.0;
    }
  }

/*
  cmd.points[0].positions[0] = 0.0;
  cmd.points[0].positions[1] = 0.0;
  cmd.points[0].positions[2] = 0.0;
  cmd.points[0].positions[3] = 0.0;
  cmd.points[0].positions[4] = 0.0;
  cmd.points[0].positions[5] = 0.0;
  cmd.points[0].positions[6] = 0.0;
  cmd.points[0].time = 0.0;
*/

  cmd.points[0].positions[0] = 0.5;
  cmd.points[0].positions[1] = 0.5;
  cmd.points[0].positions[2] = 0.2;
  cmd.points[0].positions[3] = -0.5;
  cmd.points[0].positions[4] = 0.4;
  cmd.points[0].positions[5] = 0.0;
  cmd.points[0].positions[6] = 0.0;
  cmd.points[0].time = 0.0;

  cmd.points[1].positions[0] = 0.0;
  cmd.points[1].positions[1] = 0.0;
  cmd.points[1].positions[2] = 0.0;
  cmd.points[1].positions[3] = 0.0;
  cmd.points[1].positions[4] = 0.0;
  cmd.points[1].positions[5] = 0.0;
  cmd.points[1].positions[6] = 0.0;
  cmd.points[1].time = 0.0;

  cmd.points[2].positions[0] = -0.5;
  cmd.points[2].positions[1] = 0.3;
  cmd.points[2].positions[2] = 0.2;
  cmd.points[2].positions[3] = -1.0;
  cmd.points[2].positions[4] = -0.4;
  cmd.points[2].positions[5] = 0.0;
  cmd.points[2].positions[6] = 0.0;
  cmd.points[2].time = 0.0;

  node->advertise<manipulation_msgs::JointTraj>("/arm/trajectory_controller/arm_trajectory_command",1);
  node->publish("/arm/trajectory_controller/arm_trajectory_command",cmd);
  sleep(4);

  ros::Time start_time = ros::Time::now();
  ros::Duration sleep_time = ros::Duration().fromSec(0.01);
  
}