interface.cpp
Go to the documentation of this file.00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Yaskawa America, Inc. 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 are met: 00009 * 00010 * * Redistributions of source code must retain the above copyright 00011 * notice, this list of conditions and the following disclaimer. 00012 * * Redistributions in binary form must reproduce the above copyright 00013 * notice, this list of conditions and the following disclaimer in the 00014 * documentation and/or other materials provided with the distribution. 00015 * * Neither the name of the Yaskawa America, Inc., nor the names 00016 * of its contributors may be used to endorse or promote products derived 00017 * from this software without specific prior written permission. 00018 * 00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00020 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00021 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00022 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00023 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00024 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00025 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00026 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00027 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00028 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00029 * POSSIBILITY OF SUCH DAMAGE. 00030 */ 00031 00032 #include "ros/ros.h" 00033 #include "trajectory_msgs/JointTrajectory.h" 00034 #include "moto_socket.h" 00035 #include "utils.h" 00036 #include "p_var_q.h" 00037 #include "definitions.h" 00038 #include <fstream> 00039 00040 using std::cout; 00041 using std::cin; 00042 using std::endl; 00043 using std::ofstream; 00044 00045 int main(int argc, char** argv) 00046 // Connects to robot, subscribes to joint_cmd topic to receive trajectories and execute them on the roboot 00047 { 00048 char buff[1024] = "192.168.10.20"; // Robot IP address 00049 00050 ros::init(argc, argv, "motion_interface"); 00051 ros::NodeHandle n; 00052 00053 MotoSocket sock(buff, MOTION_PORT); 00054 ofstream* log_file = new ofstream; 00055 log_file->open("comm_log.txt"); 00056 PVarQ pvq(&sock, log_file); 00057 00058 ros::Subscriber sub = n.subscribe("joint_cmd", 1000, &PVarQ::addTraj, &pvq); 00059 cout << "subscription started" << endl; 00060 00061 while (ros::ok()) 00062 { 00063 ros::spinOnce(); 00064 pvq.run(); 00065 } 00066 00067 log_file->close(); 00068 delete log_file; 00069 return 0; 00070 }