multi_robot.cpp File Reference

#include <ros/ros.h>
#include <signal.h>
#include <time.h>
#include <chrono>
#include "dsr_util.h"
#include "dsr_robot.h"

Include dependency graph for multi_robot.cpp:

Go to the source code of this file.

Macros
#define	NUM_ROBOT   2

Functions
int	main (int argc, char **argv)
CRobotSync	RobotSync (NUM_ROBOT)
void	SigHandler (int sig)
void	thread_robot1 (ros::NodeHandle nh)
void	thread_robot2 (ros::NodeHandle nh)
void	thread_robot3 (ros::NodeHandle nh)
void	thread_robot4 (ros::NodeHandle nh)
void	thread_robot5 (ros::NodeHandle nh)
void	thread_robot6 (ros::NodeHandle nh)

Variables
float	acc_spi [2] = {150, 150}
float	accx [2] = {0, 0}
float	amp [6] = {0, 0, 0, 30, 30, 0}
float	dREL1 [6] = {0, 0, 350, 0, 0, 0}
float	dREL2 [6] = {0, 0, -350, 0, 0, 0}
float	J00 [6] = {-180, 0, -145, 0, -35, 0}
float	J01r [6] = {-180.0, 71.4, -145.0, 0.0, -9.7, 0.0}
float	J02r [6] = {-180.0, 67.7, -144.0, 0.0, 76.3, 0.0}
float	J03r [6] = {-180.0, 0.0, 0.0, 0.0, 0.0, 0.0}
float	J04r [6] = {-90.0, 0.0, 0.0, 0.0, 0.0, 0.0}
float	J04r1 [6] = {-90.0, 30.0, -60.0, 0.0, 30.0, -0.0}
float	J04r2 [6] = {-90.0, -45.0, 90.0, 0.0, -45.0, -0.0}
float	J04r3 [6] = {-90.0, 60.0, -120.0, 0.0, 60.0, -0.0}
float	J04r4 [6] = {-90.0, 0.0, -0.0, 0.0, 0.0, -0.0}
float	J05r [6] = {-144.0, -4.0, -84.8, -90.9, 54.0, -1.1}
float	J06r [6]
float	J07r [6] = {-152.4, 12.4, -78.6, 18.7, -68.3, -37.7}
float	J08r [6] = {-90.0, 30.0, -120.0, -90.0, -90.0, 0.0}
float	J1 [6] = {81.2, 20.8, 127.8, 162.5, 56.1, -37.1}
float	JEnd [6] = {0.0, -12.6, 101.1, 0.0, 91.5, -0.0}
float	JReady [6] = {0, -20, 110, 0, 60, 0}
float	period [6] = {0, 0, 0, 3, 6, 0}
string	ROBOT_ID = "dsr01"
string	ROBOT_ID2 = "dsr02"
string	ROBOT_MODEL = "m1013"
string	ROBOT_MODEL2 = "m1013"
float	TCP_POS [6] = {0, 0, 0,0 ,0, 0}
float	vel_spi [2] = {400, 400}
float	velx [2] = {0,0}
float	X0 [6] = {-88.7, 799.0, 182.3, 95.7, 93.7, 133.9}
float	x01 [6] = {423.6, 334.5, 651.2, 84.7, -180.0, 84.7}
float	x02 [6] = {423.6, 34.5, 951.2, 68.2, -180.0, 68.2}
float	x0204c [2][6]
float	x03 [6] = {423.6, -265.5, 651.2, 76.1, -180.0, 76.1}
float	x04 [6] = {423.6, 34.5, 351.2, 81.3, -180.0, 81.3}
float	X1 [6] = {304.2, 871.8, 141.5, 99.5, 84.9, 133.4}
float	X2 [6] = {437.1, 876.9, 362.1, 99.6, 84.0, 132.1}
float	X3 [6] = {-57.9, 782.4, 478.4, 99.6, 84.0, 132.1}

Macro Definition Documentation

#define NUM_ROBOT   2

Definition at line 22 of file multi_robot.cpp.

Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 382 of file multi_robot.cpp.

CRobotSync RobotSync

(

NUM_ROBOT

)

void SigHandler

(

int

sig

)

delete(&RobotSync);

Definition at line 355 of file multi_robot.cpp.

void thread_robot1

(

ros::NodeHandle

nh

)

Definition at line 68 of file multi_robot.cpp.

void thread_robot2

(

ros::NodeHandle

nh

)

Definition at line 186 of file multi_robot.cpp.

void thread_robot3

(

ros::NodeHandle

nh

)

r.sleep();

Definition at line 304 of file multi_robot.cpp.

void thread_robot4

(

ros::NodeHandle

nh

)

r.sleep();

Definition at line 317 of file multi_robot.cpp.

void thread_robot5

(

ros::NodeHandle

nh

)

r.sleep();

Definition at line 330 of file multi_robot.cpp.

void thread_robot6

(

ros::NodeHandle

nh

)

Definition at line 343 of file multi_robot.cpp.

Variable Documentation

float acc_spi[2] = {150, 150}

Definition at line 53 of file multi_robot.cpp.

float accx[2] = {0, 0}

Definition at line 51 of file multi_robot.cpp.

float amp[6] = {0, 0, 0, 30, 30, 0}

Definition at line 59 of file multi_robot.cpp.

float dREL1[6] = {0, 0, 350, 0, 0, 0}

Definition at line 48 of file multi_robot.cpp.

float dREL2[6] = {0, 0, -350, 0, 0, 0}

Definition at line 49 of file multi_robot.cpp.

float J00[6] = {-180, 0, -145, 0, -35, 0}

Definition at line 34 of file multi_robot.cpp.

float J01r[6] = {-180.0, 71.4, -145.0, 0.0, -9.7, 0.0}

Definition at line 35 of file multi_robot.cpp.

float J02r[6] = {-180.0, 67.7, -144.0, 0.0, 76.3, 0.0}

Definition at line 36 of file multi_robot.cpp.

float J03r[6] = {-180.0, 0.0, 0.0, 0.0, 0.0, 0.0}

Definition at line 37 of file multi_robot.cpp.

float J04r[6] = {-90.0, 0.0, 0.0, 0.0, 0.0, 0.0}

Definition at line 38 of file multi_robot.cpp.

float J04r1[6] = {-90.0, 30.0, -60.0, 0.0, 30.0, -0.0}

Definition at line 39 of file multi_robot.cpp.

float J04r2[6] = {-90.0, -45.0, 90.0, 0.0, -45.0, -0.0}

Definition at line 40 of file multi_robot.cpp.

float J04r3[6] = {-90.0, 60.0, -120.0, 0.0, 60.0, -0.0}

Definition at line 41 of file multi_robot.cpp.

float J04r4[6] = {-90.0, 0.0, -0.0, 0.0, 0.0, -0.0}

Definition at line 42 of file multi_robot.cpp.

float J05r[6] = {-144.0, -4.0, -84.8, -90.9, 54.0, -1.1}

Definition at line 43 of file multi_robot.cpp.

float J06r[6]

Definition at line 44 of file multi_robot.cpp.

float J07r[6] = {-152.4, 12.4, -78.6, 18.7, -68.3, -37.7}

Definition at line 45 of file multi_robot.cpp.

float J08r[6] = {-90.0, 30.0, -120.0, -90.0, -90.0, 0.0}

Definition at line 46 of file multi_robot.cpp.

float J1[6] = {81.2, 20.8, 127.8, 162.5, 56.1, -37.1}

Definition at line 54 of file multi_robot.cpp.

float JEnd[6] = {0.0, -12.6, 101.1, 0.0, 91.5, -0.0}

Definition at line 47 of file multi_robot.cpp.

float JReady[6] = {0, -20, 110, 0, 60, 0}

Definition at line 31 of file multi_robot.cpp.

float period[6] = {0, 0, 0, 3, 6, 0}

Definition at line 60 of file multi_robot.cpp.

string ROBOT_ID = "dsr01"

Definition at line 23 of file multi_robot.cpp.

string ROBOT_ID2 = "dsr02"

Definition at line 25 of file multi_robot.cpp.

string ROBOT_MODEL = "m1013"

Definition at line 24 of file multi_robot.cpp.

string ROBOT_MODEL2 = "m1013"

Definition at line 26 of file multi_robot.cpp.

float TCP_POS[6] = {0, 0, 0,0 ,0, 0}

Definition at line 33 of file multi_robot.cpp.

float vel_spi[2] = {400, 400}

Definition at line 52 of file multi_robot.cpp.

float velx[2] = {0,0}

Definition at line 50 of file multi_robot.cpp.

float X0[6] = {-88.7, 799.0, 182.3, 95.7, 93.7, 133.9}

Definition at line 55 of file multi_robot.cpp.

float x01[6] = {423.6, 334.5, 651.2, 84.7, -180.0, 84.7}

Definition at line 61 of file multi_robot.cpp.

float x02[6] = {423.6, 34.5, 951.2, 68.2, -180.0, 68.2}

Definition at line 62 of file multi_robot.cpp.

float x0204c[2][6]

Definition at line 65 of file multi_robot.cpp.

float x03[6] = {423.6, -265.5, 651.2, 76.1, -180.0, 76.1}

Definition at line 63 of file multi_robot.cpp.

float x04[6] = {423.6, 34.5, 351.2, 81.3, -180.0, 81.3}

Definition at line 64 of file multi_robot.cpp.

float X1[6] = {304.2, 871.8, 141.5, 99.5, 84.9, 133.4}

Definition at line 56 of file multi_robot.cpp.

float X2[6] = {437.1, 876.9, 362.1, 99.6, 84.0, 132.1}

Definition at line 57 of file multi_robot.cpp.

float X3[6] = {-57.9, 782.4, 478.4, 99.6, 84.0, 132.1}

Definition at line 58 of file multi_robot.cpp.