fanuc_joint_streamer_node.cpp

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/*
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 *
 * Copyright (c) 2013, 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
 *    derived from this software without specific prior written
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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 * Author: G.A. vd. Hoorn - TU Delft Robotics Institute
 */

#include <fanuc_driver/fanuc_utils.h>

#include <industrial_robot_client/joint_trajectory_streamer.h>


using industrial_robot_client::joint_trajectory_streamer::JointTrajectoryStreamer;


class Fanuc_JointTrajectoryStreamer : public JointTrajectoryStreamer
{
        int J23_factor_;


public:
        Fanuc_JointTrajectoryStreamer() : JointTrajectoryStreamer(), J23_factor_(0)
        {
                if (ros::param::has("J23_factor"))
                {
                        ros::param::get("J23_factor", this->J23_factor_);
                }
                else
                {
                        // TODO: abort on missing parameter
                        ROS_ERROR("Joint 2-3 linkage factor parameter not supplied.");
                }
        }


        virtual ~Fanuc_JointTrajectoryStreamer() {}


        bool transform(const trajectory_msgs::JointTrajectoryPoint& pt_in,
                        trajectory_msgs::JointTrajectoryPoint* pt_out)
        {
                // sending points back to the Fanuc, so invert factor
                fanuc::utils::linkage_transform(pt_in, pt_out, -J23_factor_);

                return true;
        }
};


int main(int argc, char** argv)
{
        // initialize node
        ros::init(argc, argv, "motion_interface");

        // launch the default JointTrajectoryStreamer connection/handlers
        Fanuc_JointTrajectoryStreamer motionInterface;

        motionInterface.init();
        motionInterface.run();

        return 0;
}