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joint_trajectory_downloader.cpp

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/*
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2011, Southwest Research Institute
 * All rights reserved.
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 *
 *      * Redistributions of source code must retain the above copyright
 *      notice, this list of conditions and the following disclaimer.
 *      * Redistributions in binary form must reproduce the above copyright
 *      notice, this list of conditions and the following disclaimer in the
 *      documentation and/or other materials provided with the distribution.
 *      * Neither the name of the Southwest Research Institute, nor the names
 *      of its contributors may be used to endorse or promote products derived
 *      from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#include "joint_trajectory_downloader.h"
#include "simple_message/joint_traj_pt.h"
#include "simple_message/messages/joint_traj_pt_message.h"
#include "simple_message/smpl_msg_connection.h"
#include "utils.h"

using namespace industrial::smpl_msg_connection;
using namespace industrial::joint_data;
using namespace industrial::joint_traj_pt;
using namespace industrial::joint_traj_pt_message;
using namespace industrial::simple_message;
using namespace motoman::utils;


namespace motoman
{
namespace joint_trajectory_downloader
{
JointTrajectoryDownloader::JointTrajectoryDownloader()
{
}

JointTrajectoryDownloader::JointTrajectoryDownloader(ros::NodeHandle &n,
                SmplMsgConnection* robotConnecton) : node_(n)
{
        ROS_INFO("Constructor joint trajectory downloader node");

        this->sub_joint_trajectory_ = this->node_.subscribe("command",
                        0, &JointTrajectoryDownloader::jointTrajectoryCB, this);
        this->robot_ = robotConnecton;
        ROS_INFO("Joint trajectory downloader node initialized");
}

JointTrajectoryDownloader::~JointTrajectoryDownloader()
{  
        trajectoryStop();
        this->sub_joint_trajectory_.shutdown();
}

void JointTrajectoryDownloader::jointTrajectoryCB(
                const trajectory_msgs::JointTrajectoryConstPtr &msg)
{
        ROS_INFO("Receiving joint trajectory message");


        if (!checkTrajectory(msg))
        {
                ROS_ERROR("Joint trajectory check failed, trajectory not downloaded");
                return;
        }

        std::vector<double> joint_velocity_limits;
        if (!getVelocityLimits("robot_description", msg, joint_velocity_limits))
        {
                ROS_ERROR("Failed to get joint velocity limits");
                return;
        }



        for (int i = 0; i < msg->points.size(); i++)
        {
                ROS_INFO("Sending joints trajectory point[%d]", i);

                JointTrajPt jPt;
                JointTrajPtMessage jMsg;
                SimpleMessage topic;
                trajectory_msgs::JointTrajectoryPoint pt;

                pt = msg->points[i];

                // Performing a manual copy of the joint velocities in order to send them
                // to the utility function.  Passing the pt data members doesn't seem to
                // work.
                std::vector<double> joint_velocities;
                double velocity =0 ;

                joint_velocities.resize(msg->joint_names.size());
                for (int j = 0; j < joint_velocities.size(); j++)
                {
                  joint_velocities[i] = pt.velocities[i];
                }
                velocity = toMotomanVelocity(joint_velocity_limits, joint_velocities);

                jPt.setVelocity(velocity);

                // The first and last sequence values must be given a special sequence
                // value
                if (0 == i)
                {
                        ROS_DEBUG("First trajectory point, setting special sequence value");
                        jPt.setSequence(SpecialSeqValues::START_TRAJECTORY_DOWNLOAD);
                }
                else if (msg->points.size() - 1 == i)
                {
                        ROS_DEBUG("Last trajectory point, setting special sequence value");
                        jPt.setSequence(SpecialSeqValues::END_TRAJECTORY);
                }
                else
                {
                        jPt.setSequence(i);
                }

                // Copy position data to local variable
                JointData data;
                for (int j = 0; j < msg->joint_names.size(); j++)
                {
                        pt = msg->points[j];
                        data.setJoint(j, pt.positions[j]);
                }

                // Initialize joint trajectory message
                jPt.setJointPosition(data);

                jMsg.init(jPt);
                jMsg.toTopic(topic);

                ROS_DEBUG("Sending joint trajectory point");
                if (this->robot_->sendMsg(topic))
                {
                        ROS_INFO("Point[%d] sent to controller", i);
                }
                else
                {
                        ROS_WARN("Failed sent joint point, skipping point");
                }
        }
}

void JointTrajectoryDownloader::trajectoryStop()
{
  JointTrajPtMessage jMsg;
  SimpleMessage msg;
  SimpleMessage reply;

  ROS_INFO("Joint trajectory downloader: entering stopping state");
  jMsg.point_.setSequence(SpecialSeqValues::STOP_TRAJECTORY);
  jMsg.toRequest(msg);
  ROS_DEBUG("Sending stop command");
  this->robot_->sendAndReceiveMsg(msg, reply);
  ROS_DEBUG("Stop command sent");
}

} //joint_trajectory_handler
} //motoman

---

motoman
Author(s): Shaun Edwards
autogenerated on Mon Mar 4 12:15:58 2013