pr2_fk_ref.cpp

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#include <ros/console.h>
#include <ros/ros.h>
#include <kdl_parser/kdl_parser.hpp>
#include <pr2_calibration_launch/FkTest.h>
#include <kdl/tree.hpp>
#include <kdl/chainfksolverpos_recursive.hpp>

using namespace std;
using namespace pr2_calibration_launch;

bool fk(KDL::Tree* tree, FkTest::Request& req, FkTest::Response& resp)
{
  KDL::Chain my_chain;
  bool success;
  success = tree->getChain(req.root, req.tip, my_chain);

  if (!success)
  {
    ROS_ERROR("Error extracting chain from [%s] to [%s]\n", req.root.c_str(), req.tip.c_str());
    return false;
  }

  KDL::ChainFkSolverPos_recursive solver(my_chain);

  KDL::JntArray joints(my_chain.getNrOfJoints());
  for (unsigned int i=0; i<my_chain.getNrOfJoints(); i++)
    joints(i) = req.joint_positions[i];

  KDL::Frame out_frame;
  if (solver.JntToCart(joints, out_frame))
  {
    ROS_ERROR("Error running KDL solver");
    return false;
  }

  resp.pos.resize(3);

  // Copy over translation vector
  resp.pos[0] = out_frame.p.data[0];
  resp.pos[1] = out_frame.p.data[1];
  resp.pos[2] = out_frame.p.data[2];

  // Copy over rotation matrix
  resp.rot.resize(9);
  for (unsigned int i=0; i<9; i++)
    resp.rot[i] = out_frame.M.data[i];

  return true;
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "fk_reference");
  ros::NodeHandle n;
  ros::NodeHandle pn("~");

  KDL::Tree my_tree;
  string robot_desc_string;
  if (!n.getParam("robot_description", robot_desc_string))
    ROS_FATAL("Couldn't get a robot_description from the param server");

  if (!kdl_parser::treeFromString(robot_desc_string, my_tree))
  {
     ROS_ERROR("Failed to construct kdl tree");
     return false;
  }

  boost::function< bool(FkTest::Request&,  FkTest::Response&) > func = boost::bind(fk, &my_tree, _1, _2) ;
  ros::ServiceServer fk_service = n.advertiseService("fk", func);

  ros::spin();

  return 0;
}