00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2015, University of Colorado, Boulder 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Univ of CO, Boulder nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Dave Coleman 00036 Desc: Records a ros_control ControllerState data to CSV for Matlab/etc analysis 00037 */ 00038 00039 #ifndef GENERIC_ROS_CONTROL__CSV_TO_CONTROLLER_H 00040 #define GENERIC_ROS_CONTROL__CSV_TO_CONTROLLER_H 00041 00042 // ROS 00043 #include <ros/ros.h> 00044 00045 // ros_control 00046 #include <control_msgs/FollowJointTrajectoryAction.h> 00047 #include <control_msgs/JointTrajectoryControllerState.h> 00048 00049 // actionlib 00050 #include <actionlib/client/simple_action_client.h> 00051 #include <actionlib/client/terminal_state.h> 00052 00053 namespace ros_control_boilerplate 00054 { 00055 static const double RECORD_RATE_HZ = 100.0; // times per second to record 00056 00057 class CSVToController 00058 { 00059 public: 00063 CSVToController(const std::string& joint_trajectory_action, 00064 const std::string& controller_state_topic); 00065 00067 void stateCB(const control_msgs::JointTrajectoryControllerState::ConstPtr& state); 00068 00069 void printPoint(trajectory_msgs::JointTrajectoryPoint &point); 00070 00071 // Start the data collection 00072 void loadAndRunCSV(const std::string& file_name); 00073 00074 private: 00075 // A shared node handle 00076 ros::NodeHandle nh_; 00077 00078 // Listener to state of controller 00079 ros::Subscriber state_sub_; 00080 00081 // Action 00082 actionlib::SimpleActionClient<control_msgs::FollowJointTrajectoryAction> joint_trajectory_action_; 00083 00084 // Where to save the CSV 00085 std::string file_name_; 00086 std::string controller_state_topic_; 00087 00088 // Cache of last recieved state 00089 control_msgs::JointTrajectoryControllerState current_state_; 00090 00091 }; // end class 00092 00093 } // end namespace 00094 00095 #endif