fanuc_robot_state_node.cpp

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/*
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 * Copyright (c) 2013-2015, TU Delft Robotics Institute
 * All rights reserved.
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 *    with the distribution.
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 *    of its contributors may be used to endorse or promote products
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 * Author: G.A. vd. Hoorn - TU Delft Robotics Institute
 */
 
#include <fanuc_driver/fanuc_utils.h>
 
#include <industrial_robot_client/robot_state_interface.h>
#include <industrial_utils/param_utils.h>
 
#include <stdexcept>
 
 
using industrial_robot_client::robot_state_interface::RobotStateInterface;
using industrial_robot_client::joint_relay_handler::JointRelayHandler;
using industrial_utils::param::getJointNames;
 
 
class Fanuc_JointRelayHandler : public JointRelayHandler
{
  int J23_factor_;
 
 
public:
  Fanuc_JointRelayHandler() : JointRelayHandler(), J23_factor_(0)
  {
    if (!ros::param::has("J23_factor"))
    {
      ROS_FATAL("Joint 2-3 linkage factor parameter not supplied.");
      throw std::runtime_error("Cannot find required parameter 'J23_factor' on parameter server.");
    }
 
    ros::param::get("J23_factor", this->J23_factor_);
  }
 
 
  virtual ~Fanuc_JointRelayHandler() {}
 
 
  bool transform(const std::vector<double>& pos_in, std::vector<double>* pos_out)
  {
    // compensate for J2-J3 coupling in Fanuc manipulator, if required
    fanuc::utils::linkage_transform(pos_in, pos_out, J23_factor_);
    return true;
  }
};
 
 
int main(int argc, char** argv)
{
  // initialize node
  ros::init(argc, argv, "state_interface");
 
  // launch the default Robot State Interface connection/handlers
  RobotStateInterface rsi;
  rsi.init();
 
  // replace the generic JointRelayHandler with our Fanuc specific one as
  // we need to correct the reported joint angles
  Fanuc_JointRelayHandler jointHandler;
  std::vector<std::string> joint_names = rsi.get_joint_names();
  jointHandler.init(rsi.get_connection(), joint_names);
  rsi.add_handler(&jointHandler);
 
  // run the node
  rsi.run();
 
  return 0;
}