monoped_pub.cc

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Copyright (c) 2017, Alexander W. Winkler. All rights reserved.
 
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#include <ros/ros.h>
 
#include <xpp_msgs/RobotStateCartesian.h>
#include <xpp_msgs/topic_names.h>
 
#include <xpp_states/convert.h>
#include <xpp_states/robot_state_cartesian.h>
 
 
using namespace xpp;
 
int main(int argc, char *argv[])
{
  ros::init(argc, argv, "monped_publisher_node");
 
  ros::NodeHandle n;
  ros::Publisher state_pub = n.advertise<xpp_msgs::RobotStateCartesian>(xpp_msgs::robot_state_desired, 1);
  ROS_INFO_STREAM("Waiting for Subscriber...");
  while(ros::ok() && state_pub.getNumSubscribers() == 0)
    ros::Rate(100).sleep();
  ROS_INFO_STREAM("Subscriber to initial state connected");
 
 
  // visualize the state of a one-legged hopper
  RobotStateCartesian hopper(1);
 
  // publishes a sequence of states for a total duration of T spaced 0.01s apart.
  double T = 2.0;
  double t = 0.0;
  double dt = 0.01;
  while (t < T)
  {
    // base and foot follow half a sine motion up and down
    hopper.base_.lin.p_.z() = 0.7 - 0.05*sin(2*M_PI/(2*T)*t);
    hopper.ee_motion_.at(0).p_.z() = 0.1*sin(2*M_PI/(2*T)*t);
    hopper.ee_forces_.at(0).z() = 100; // N
    hopper.ee_contact_.at(0) = true;
 
    state_pub.publish(Convert::ToRos(hopper));
 
    ros::spinOnce();
    ros::Duration(dt).sleep(); // pause loop so visualization has correct speed.
    t += dt;
  }
 
 
  return 0;
}