reem_teleop_coordinator.cpp File Reference

#include <string>
#include <map>
#include <vector>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/PoseArray.h>
#include <geometry_msgs/TransformStamped.h>
#include <kinematics_msgs/GetPositionFK.h>
#include <ros/ros.h>
#include <sensor_msgs/JointState.h>
#include <tf/transform_listener.h>
#include <tf/transform_broadcaster.h>
#include <tree_kinematics/get_tree_position_ik.h>
#include <arm_navigation_msgs/GetPlanningScene.h>
#include <planning_environment/models/collision_models.h>
#include <trajectory_msgs/JointTrajectory.h>

Include dependency graph for reem_teleop_coordinator.cpp:

Go to the source code of this file.

Functions
bool	getGoalTransform (tf::TransformListener &tf_listener, std::string &root_frame_name, std::string goal_frame_name, geometry_msgs::PoseStamped &pose)
	Retrieving goal transformations and putting them into a geometry_msgs::PoseStamped message.
void	jointStatesCB (const sensor_msgs::JointState::ConstPtr &joint_states)
	Callback funtion for retrieving the current joint states.
int	main (int argc, char **argv)
Variables
static const std::string	FK_SERVICE = "/tree_kinematics_node/get_position_fk"
	Controls the information flow between the target end point poses, IK calculations, self-collision checking and the final output of joint positions.
static const std::string	IK_SERVICE = "/tree_kinematics_node/get_position_ik"
sensor_msgs::JointState::ConstPtr	joint_states_ptr
bool	joint_states_valid = false
sensor_msgs::JointState	old_joint_state
static const std::string	PUB_TOPIC_JOINT_STATES_CMD = "/joint_states_cmd"
static const std::string	SET_PLANNING_SCENE_DIFF_NAME = "/environment_server/set_planning_scene_diff"
static const std::string	SUB_TOPIC_JOINT_STATES = "/joint_states"

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Function Documentation

bool getGoalTransform	(	tf::TransformListener &	tf_listener,
		std::string &	root_frame_name,
		std::string	goal_frame_name,
		geometry_msgs::PoseStamped &	pose
	)

Retrieving goal transformations and putting them into a geometry_msgs::PoseStamped message.

A generic transform function for retrieving the desired transform for the goal frame and putting it into a stamped pose message.

Parameters:

tf_listener	pointer to the utilized tf listener
root_frame_name	pointer to the root name of the tf tree
goal_frame_name	the name of the frame, which transform shall be retrieved
pose	pointer to the pose message, which will contain the transformation information

@ returns true, if transformation could be retrieved

Definition at line 113 of file reem_teleop_coordinator.cpp.

void jointStatesCB

(

const sensor_msgs::JointState::ConstPtr &

joint_states

)

Callback funtion for retrieving the current joint states.

Callback funtion for retrieving the current joint states Note: The used joint states 'old_joints_states' get only updated one time. Later on the joint states of the last loop are used for the IK service call. Using always the current joint states would introduce an unwanted feedback.

Parameters:

joint_states

pointer to the joint states

Definition at line 91 of file reem_teleop_coordinator.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 144 of file reem_teleop_coordinator.cpp.

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Variable Documentation

const std::string FK_SERVICE = "/tree_kinematics_node/get_position_fk" [static]

Controls the information flow between the target end point poses, IK calculations, self-collision checking and the final output of joint positions.

Author:

Marcus Liebhardt The teleoperation coordinator retrieves transforms for the specified goal frames and calculates the desired joint position using to reach them with the specified end points/effectors using KDL's tree inverse kinematics solvers. Afterwards the new joint positions are checked if the would lead to self-collision. If there is no self-collision the new joint positions are published to the specified topic.

Definition at line 69 of file reem_teleop_coordinator.cpp.

const std::string IK_SERVICE = "/tree_kinematics_node/get_position_ik" [static]

Definition at line 70 of file reem_teleop_coordinator.cpp.

sensor_msgs::JointState::ConstPtr joint_states_ptr

Definition at line 79 of file reem_teleop_coordinator.cpp.

bool joint_states_valid = false

Definition at line 75 of file reem_teleop_coordinator.cpp.

sensor_msgs::JointState old_joint_state

Definition at line 76 of file reem_teleop_coordinator.cpp.

const std::string PUB_TOPIC_JOINT_STATES_CMD = "/joint_states_cmd" [static]

Definition at line 72 of file reem_teleop_coordinator.cpp.

const std::string SET_PLANNING_SCENE_DIFF_NAME = "/environment_server/set_planning_scene_diff" [static]

Definition at line 71 of file reem_teleop_coordinator.cpp.

const std::string SUB_TOPIC_JOINT_STATES = "/joint_states" [static]

Definition at line 73 of file reem_teleop_coordinator.cpp.