abb_robot_state_node.cpp
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00001 /*
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00031 
00032 #include "abb_driver/abb_utils.h"
00033 #include "industrial_robot_client/robot_state_interface.h"
00034 #include "industrial_utils/param_utils.h"
00035 
00036 using industrial_robot_client::robot_state_interface::RobotStateInterface;
00037 using industrial_robot_client::joint_relay_handler::JointRelayHandler;
00038 
00039 class ABB_JointRelayHandler : public JointRelayHandler
00040 {
00041   bool J23_coupled_;
00042 
00043 public:
00044   ABB_JointRelayHandler() : JointRelayHandler()
00045   {
00046     if (ros::param::has("J23_coupled"))
00047       ros::param::get("J23_coupled", this->J23_coupled_);
00048     else
00049       J23_coupled_ = false;
00050   }
00051 
00052   bool transform(const std::vector<double>& pos_in, std::vector<double>* pos_out)
00053   {
00054     // correct for parallel linkage effects, if desired
00055     //   - use NEGATIVE factor for motor->joint correction
00056     abb::utils::linkage_transform(pos_in, pos_out, J23_coupled_ ? -1:0 );
00057 
00058     return true;
00059   }
00060 };
00061 
00062 int main(int argc, char** argv)
00063 {
00064   // initialize node
00065   ros::init(argc, argv, "state_interface");
00066 
00067   // launch the default Robot State Interface connection/handlers
00068   RobotStateInterface rsi;
00069   rsi.init();
00070 
00071   // replace the JointRelayHandler with ABB-version
00072   ABB_JointRelayHandler jointHandler;  // for joint-linkage correction
00073   std::vector<std::string> joint_names = rsi.get_joint_names();
00074   jointHandler.init(rsi.get_connection(), joint_names);
00075   rsi.add_handler(&jointHandler);
00076 
00077   // run the node
00078   rsi.run();
00079 
00080   return 0;
00081 }


abb_driver
Author(s): Edward Venator, Jeremy Zoss, Shaun Edwards
autogenerated on Thu Jun 6 2019 20:43:53