Torso.cpp

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/*
 * Copyright (c) 2010, Thomas Ruehr <ruehr@cs.tum.edu>
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 */


#include <ias_drawer_executive/Torso.h>
//include <ros/ros.h>
//nclude <pr2_controllers_msgs/SingleJointPositionAction.h>
//include <actionlib/client/simple_action_client.h>


Torso *Torso::instance = 0;

  //Action client initialization
  Torso::Torso(){

    torso_client_ = new TorsoClient("torso_controller/position_joint_action", true);

    //wait for the action server to come up
    while(!torso_client_->waitForServer(ros::Duration(5.0))){
      ROS_INFO("Waiting for the torso action server to come up");
    }
  }

  void Torso::pos( double position ){

    pr2_controllers_msgs::SingleJointPositionGoal up;
    up.position = position;  //all the way up is 0.2
    up.min_duration = ros::Duration(2.0);
    up.max_velocity = 1.0;

    ROS_INFO("Sending position goal %f ", position);
    torso_client_->sendGoal(up);
    torso_client_->waitForResult();
  }

  //tell the torso to go up
  void Torso::up(){

    pr2_controllers_msgs::SingleJointPositionGoal up;
    up.position = 0.29;  //all the way up is 0.2
    up.min_duration = ros::Duration(2.0);
    up.max_velocity = 1.0;

    ROS_INFO("Sending up goal");
    torso_client_->sendGoal(up);
    torso_client_->waitForResult();
    ROS_INFO("TORSO IS UP");
  }

  //tell the torso to go down
  void Torso::down(){

    pr2_controllers_msgs::SingleJointPositionGoal down;
    down.position = 0.01;
    down.min_duration = ros::Duration(2.0);
    down.max_velocity = 1.0;

    ROS_INFO("Sending down goal");
    torso_client_->sendGoal(down);
    torso_client_->waitForResult();
    ROS_INFO("TORSO IS DOWN");
  }