katana: katana: JointStatePublisher.cpp Source File

00001 /*
00002  * UOS-ROS packages - Robot Operating System code by the University of Osnabrück
00003  * Copyright (C) 2010  University of Osnabrück
00004  *
00005  * This program is free software; you can redistribute it and/or
00006  * modify it under the terms of the GNU General Public License
00007  * as published by the Free Software Foundation; either version 2
00008  * of the License, or (at your option) any later version.
00009  *
00010  * This program is distributed in the hope that it will be useful,
00011  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00012  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00013  * GNU General Public License for more details.
00014  *
00015  * You should have received a copy of the GNU General Public License
00016  * along with this program; if not, write to the Free Software
00017  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
00018  *
00019  * JointStatePublisher.cpp
00020  *
00021  *  Created on: 06.12.2010
00022  *      Author: Martin Günther <mguenthe@uos.de>
00023  */
00024 
00025 #include "katana/JointStatePublisher.h"
00026 
00027 namespace katana
00028 {
00029 
00030 JointStatePublisher::JointStatePublisher(boost::shared_ptr<AbstractKatana> katana) :
00031   katana(katana)
00032 {
00033   ros::NodeHandle nh;
00034   pub = nh.advertise<sensor_msgs::JointState> ("joint_states", 1000);
00035 }
00036 
00037 JointStatePublisher::~JointStatePublisher()
00038 {
00039 }
00040 
00041 void JointStatePublisher::update()
00042 {
00043   /* ************** Publish joint angles ************** */
00044   sensor_msgs::JointStatePtr msg = boost::make_shared<sensor_msgs::JointState>();
00045   std::vector<std::string> joint_names = katana->getJointNames();
00046   std::vector<double> angles = katana->getMotorAngles();
00047   std::vector<double> vels = katana->getMotorVelocities();
00048 
00049   for (size_t i = 0; i < NUM_JOINTS; i++)
00050   {
00051     msg->name.push_back(joint_names[i]);
00052     msg->position.push_back(angles[i]);
00053     msg->velocity.push_back(vels[i]);
00054   }
00055 
00056   msg->name.push_back(katana->getGripperJointNames()[0]);
00057   msg->position.push_back(angles[5]);
00058   msg->velocity.push_back(vels[5]);
00059 
00060   msg->name.push_back(katana->getGripperJointNames()[1]);
00061   msg->position.push_back(angles[5]); // both right and left finger are controlled by motor 6
00062   msg->velocity.push_back(vels[5]);
00063 
00064   msg->header.stamp = ros::Time::now();
00065   pub.publish(msg); // NOTE: msg must not be changed after publishing; use reset() if necessary (http://www.ros.org/wiki/roscpp/Internals)
00066 }
00067 
00068 }