abb_joint_downloader_node.cpp
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00001 /*
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00031 
00032 #include "abb_driver/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_driver
Author(s): Edward Venator, Jeremy Zoss, Shaun Edwards
autogenerated on Thu Jun 6 2019 20:43:53