00001 /********************************************************************* 00002 * 00003 * ROS wrapper for continous trajectory point streaming using FS100 controller mh5l robot 00004 * Author: Asger Winther-Jørgensen (awijor@elektro.dtu.dk) 00005 * 00006 * Software License Agreement (LGPL License) 00007 * 00008 * Copyright (c) 2014, Technical University of Denmark 00009 * All rights reserved. 00010 00011 * This program is free software; you can redistribute it and/or modify 00012 * it under the terms of the GNU Lesser General Public License as 00013 * published by the Free Software Foundation; either version 2 of the 00014 * License, or (at your option) any later version. 00015 * 00016 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00017 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00018 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00019 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00020 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00021 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00022 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00023 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00024 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00025 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00026 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 *********************************************************************/ 00029 #ifndef MH5L_TRAJ_H 00030 #define MH5L_TRAJ_H 00031 00032 #include <ros/ros.h> 00033 #include <std_msgs/String.h> 00034 #include <fs100_motoman/setReset.h> // service file 00035 #include <sensor_msgs/JointState.h> 00036 #include <trajectory_msgs/JointTrajectoryPoint.h> 00037 00038 00039 #include <fstream> 00040 #include <iostream> 00041 #include <sstream> 00042 00043 #include <stdio.h> 00044 #include <stdlib.h> 00045 #include <unistd.h> 00046 #include <string.h> 00047 #include <sys/types.h> 00048 #include <sys/socket.h> 00049 #include <netinet/in.h> 00050 #include <netinet/ip.h> 00051 #include <netinet/tcp.h> 00052 #include <netdb.h> 00053 #include <pthread.h> 00054 00055 00056 #include "fs100_state.cpp" 00057 #include "fs100_cmd.cpp" 00058 00059 00060 00061 #endif //MOTOMAN_DIRECT