fanuc_joint_streamer_node.cpp

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/*
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 * Copyright (c) 2013-2015, TU Delft Robotics Institute
 * All rights reserved.
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 * Author: G.A. vd. Hoorn - TU Delft Robotics Institute
 */
 
#include <fanuc_driver/fanuc_utils.h>
 
#include <industrial_robot_client/joint_trajectory_streamer.h>
 
#include <stdexcept>
 
 
using industrial_robot_client::joint_trajectory_streamer::JointTrajectoryStreamer;
 
 
class Fanuc_JointTrajectoryStreamer : public JointTrajectoryStreamer
{
  int J23_factor_;
 
 
public:
  Fanuc_JointTrajectoryStreamer() : JointTrajectoryStreamer(), J23_factor_(0)
  {
    if (!ros::param::has("J23_factor"))
    {
      ROS_FATAL("Joint 2-3 linkage factor parameter not supplied.");
      throw std::runtime_error("Cannot find required parameter 'J23_factor' on parameter server.");
    }
 
    ros::param::get("J23_factor", this->J23_factor_);
  }
 
 
  virtual ~Fanuc_JointTrajectoryStreamer() {}
 
 
  bool transform(const trajectory_msgs::JointTrajectoryPoint& pt_in,
      trajectory_msgs::JointTrajectoryPoint* pt_out)
  {
    // sending points back to the Fanuc, so invert factor
    fanuc::utils::linkage_transform(pt_in, pt_out, -J23_factor_);
 
    return true;
  }
};
 
 
int main(int argc, char** argv)
{
  // initialize node
  ros::init(argc, argv, "motion_interface");
 
  // launch the default JointTrajectoryStreamer connection/handlers
  Fanuc_JointTrajectoryStreamer motionInterface;
 
  motionInterface.init();
  motionInterface.run();
 
  return 0;
}