joint_effort_controller.cpp

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#include "robot_mechanism_controllers/joint_effort_controller.h"
#include "pluginlib/class_list_macros.h"

PLUGINLIB_EXPORT_CLASS( controller::JointEffortController, pr2_controller_interface::Controller)

namespace controller {

JointEffortController::JointEffortController()
: joint_state_(NULL), command_(0), robot_(NULL)
{
}

JointEffortController::~JointEffortController()
{
  sub_command_.shutdown();
}

bool JointEffortController::init(pr2_mechanism_model::RobotState *robot, const std::string &joint_name)
{
  if (!robot)
  {
    ROS_ERROR("The given robot was NULL");
    return false;
  }
  robot_ = robot;

  joint_state_ = robot_->getJointState(joint_name);
  if (!joint_state_)
  {
    ROS_ERROR("JointEffortController could not find joint named \"%s\"",
            joint_name.c_str());
    return false;
  }

  return true;
}

bool JointEffortController::init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
{
  assert(robot);
  node_ = n;
  robot_ = robot;

  std::string joint_name;
  if (!node_.getParam("joint", joint_name))
  {
    ROS_ERROR("No joint given (namespace: %s)", node_.getNamespace().c_str());
    return false;
  }

  if (!(joint_state_ = robot_->getJointState(joint_name)))
  {
    ROS_ERROR("Could not find joint \"%s\" (namespace: %s)",
              joint_name.c_str(), node_.getNamespace().c_str());
    return false;
  }

  sub_command_ = node_.subscribe<std_msgs::Float64>(
    "command", 1, &JointEffortController::commandCB, this);

  return true;
}

void JointEffortController::update()
{
  joint_state_->commanded_effort_ += command_;
}

void JointEffortController::commandCB(const std_msgs::Float64ConstPtr& msg)
{
  command_ = msg->data;
}

}