urdf_visualizer_hyq4.cc
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2 Copyright (c) 2017, Alexander W. Winkler. All rights reserved.
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29 
30 #include <iostream>
31 #include <map>
32 #include <memory>
33 #include <string>
34 
35 #include <ros/init.h>
36 
38 #include <xpp_msgs/topic_names.h>
39 #include <xpp_states/joints.h>
41 
44 
45 using namespace xpp;
46 using namespace quad;
47 
48 int main(int argc, char *argv[])
49 {
50  ::ros::init(argc, argv, "hyq_urdf_visualizer");
51 
52  const std::string joint_desired_hyq = "xpp/joint_hyq_des";
53 
54  auto hyq_ik = std::make_shared<InverseKinematicsHyq4>();
55  CartesianJointConverter inv_kin_converter(hyq_ik,
57  joint_desired_hyq);
58 
59  // urdf joint names
60  int n_ee = hyq_ik->GetEECount();
61  int n_j = HyqlegJointCount;
62  std::vector<UrdfVisualizer::URDFName> joint_names(n_ee*n_j);
63  joint_names.at(n_j*LF + HAA) = "lf_haa_joint";
64  joint_names.at(n_j*LF + HFE) = "lf_hfe_joint";
65  joint_names.at(n_j*LF + KFE) = "lf_kfe_joint";
66  joint_names.at(n_j*RF + HAA) = "rf_haa_joint";
67  joint_names.at(n_j*RF + HFE) = "rf_hfe_joint";
68  joint_names.at(n_j*RF + KFE) = "rf_kfe_joint";
69  joint_names.at(n_j*LH + HAA) = "lh_haa_joint";
70  joint_names.at(n_j*LH + HFE) = "lh_hfe_joint";
71  joint_names.at(n_j*LH + KFE) = "lh_kfe_joint";
72  joint_names.at(n_j*RH + HAA) = "rh_haa_joint";
73  joint_names.at(n_j*RH + HFE) = "rh_hfe_joint";
74  joint_names.at(n_j*RH + KFE) = "rh_kfe_joint";
75 
76  std::string urdf = "hyq_rviz_urdf_robot_description";
77  UrdfVisualizer hyq_desired(urdf, joint_names, "base", "world",
78  joint_desired_hyq, "hyq_des");
79 
80  ::ros::spin();
81 
82  return 1;
83 }
84 
int main(int argc, char *argv[])
static const std::string robot_state_desired("/xpp/state_des")


xpp_hyq
Author(s): Alexander W. Winkler, Diego Pardo. , Carlos Mastalli , Ioannis Havoutis
autogenerated on Tue Dec 8 2020 03:10:35