fanuc_joint_streamer_node.cpp
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00001 /*
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00004  * Copyright (c) 2013-2015, TU Delft Robotics Institute
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00007  * Redistribution and use in source and binary forms, with or without
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00011  *  * Redistributions of source code must retain the above copyright
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00013  *  * Redistributions in binary form must reproduce the above
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00017  *  * Neither the name of the TU Delft Robotics Institute nor the names
00018  *    of its contributors may be used to endorse or promote products
00019  *    derived from this software without specific prior written
00020  *    permission.
00021  *
00022  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00024  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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00028  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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00035  *
00036  * Author: G.A. vd. Hoorn - TU Delft Robotics Institute
00037  */
00038 
00039 #include <fanuc_driver/fanuc_utils.h>
00040 
00041 #include <industrial_robot_client/joint_trajectory_streamer.h>
00042 
00043 #include <stdexcept>
00044 
00045 
00046 using industrial_robot_client::joint_trajectory_streamer::JointTrajectoryStreamer;
00047 
00048 
00049 class Fanuc_JointTrajectoryStreamer : public JointTrajectoryStreamer
00050 {
00051   int J23_factor_;
00052 
00053 
00054 public:
00055   Fanuc_JointTrajectoryStreamer() : JointTrajectoryStreamer(), J23_factor_(0)
00056   {
00057     if (!ros::param::has("J23_factor"))
00058     {
00059       ROS_FATAL("Joint 2-3 linkage factor parameter not supplied.");
00060       throw std::runtime_error("Cannot find required parameter 'J23_factor' on parameter server.");
00061     }
00062 
00063     ros::param::get("J23_factor", this->J23_factor_);
00064   }
00065 
00066 
00067   virtual ~Fanuc_JointTrajectoryStreamer() {}
00068 
00069 
00070   bool transform(const trajectory_msgs::JointTrajectoryPoint& pt_in,
00071       trajectory_msgs::JointTrajectoryPoint* pt_out)
00072   {
00073     // sending points back to the Fanuc, so invert factor
00074     fanuc::utils::linkage_transform(pt_in, pt_out, -J23_factor_);
00075 
00076     return true;
00077   }
00078 };
00079 
00080 
00081 int main(int argc, char** argv)
00082 {
00083   // initialize node
00084   ros::init(argc, argv, "motion_interface");
00085 
00086   // launch the default JointTrajectoryStreamer connection/handlers
00087   Fanuc_JointTrajectoryStreamer motionInterface;
00088 
00089   motionInterface.init();
00090   motionInterface.run();
00091 
00092   return 0;
00093 }


fanuc_driver
Author(s): G.A. vd. Hoorn (TU Delft Robotics Institute)
autogenerated on Sat Jun 8 2019 20:43:30