test_arm_trajectory_controller.cpp
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00034 
00035 #include <ros/node.h>
00036 #include <manipulation_msgs/JointTraj.h>
00037 
00038 static int done = 0;
00039 
00040 void finalize(int donecare)
00041 {
00042   done = 1;
00043 }
00044 
00045 int main( int argc, char** argv )
00046 {
00047 
00048   /*********** Initialize ROS  ****************/
00049   ros::init(argc,argv);
00050   ros::Node *node = new ros::Node("test_arm_trajectory_controller"); 
00051 
00052   signal(SIGINT,  finalize);
00053   signal(SIGQUIT, finalize);
00054   signal(SIGTERM, finalize);
00055 
00056 
00057   /*********** Start moving the robot ************/
00058   manipulation_msgs::JointTraj cmd;
00059 
00060   int num_points = 3;
00061   int num_joints = 14;
00062 
00063   cmd.set_points_size(num_points);
00064 
00065   for(int i=0; i<num_points; i++)
00066   {
00067     cmd.points[i].set_positions_size(num_joints);
00068     for(int j=0; j < num_joints; j++)
00069     {
00070       cmd.points[i].positions[j] = 0.0;
00071     }
00072   }
00073 
00074 /*
00075   cmd.points[0].positions[0] = 0.0;
00076   cmd.points[0].positions[1] = 0.0;
00077   cmd.points[0].positions[2] = 0.0;
00078   cmd.points[0].positions[3] = 0.0;
00079   cmd.points[0].positions[4] = 0.0;
00080   cmd.points[0].positions[5] = 0.0;
00081   cmd.points[0].positions[6] = 0.0;
00082   cmd.points[0].time = 0.0;
00083 */
00084 
00085   cmd.points[0].positions[0] = 0.5;
00086   cmd.points[0].positions[1] = 0.5;
00087   cmd.points[0].positions[2] = 0.2;
00088   cmd.points[0].positions[3] = -0.5;
00089   cmd.points[0].positions[4] = 0.4;
00090   cmd.points[0].positions[5] = 0.0;
00091   cmd.points[0].positions[6] = 0.0;
00092   cmd.points[0].time = 0.0;
00093 
00094   cmd.points[1].positions[0] = 0.0;
00095   cmd.points[1].positions[1] = 0.0;
00096   cmd.points[1].positions[2] = 0.0;
00097   cmd.points[1].positions[3] = 0.0;
00098   cmd.points[1].positions[4] = 0.0;
00099   cmd.points[1].positions[5] = 0.0;
00100   cmd.points[1].positions[6] = 0.0;
00101   cmd.points[1].time = 0.0;
00102 
00103   cmd.points[2].positions[0] = -0.5;
00104   cmd.points[2].positions[1] = 0.3;
00105   cmd.points[2].positions[2] = 0.2;
00106   cmd.points[2].positions[3] = -1.0;
00107   cmd.points[2].positions[4] = -0.4;
00108   cmd.points[2].positions[5] = 0.0;
00109   cmd.points[2].positions[6] = 0.0;
00110   cmd.points[2].time = 0.0;
00111 
00112   node->advertise<manipulation_msgs::JointTraj>("/arm/trajectory_controller/arm_trajectory_command",1);
00113   node->publish("/arm/trajectory_controller/arm_trajectory_command",cmd);
00114   sleep(4);
00115 
00116   ros::Time start_time = ros::Time::now();
00117   ros::Duration sleep_time = ros::Duration().fromSec(0.01);
00118   
00119 }


pr2_mechanism_controllers
Author(s): Sachin Chita, John Hsu, Melonee Wise
autogenerated on Sat Jun 8 2019 20:49:34