00001 #include <ros/ros.h>
00002 #include <kinematics_msgs/GetKinematicSolverInfo.h>
00003 #include <kinematics_msgs/GetPositionFK.h>
00004
00005 int main(int argc, char **argv){
00006 ros::init (argc, argv, "get_fk");
00007 ros::NodeHandle rh;
00008
00009 ros::service::waitForService("pr2_right_arm_kinematics/get_fk_solver_info");
00010 ros::service::waitForService("pr2_right_arm_kinematics/get_fk");
00011
00012 ros::ServiceClient query_client =
00013 rh.serviceClient<kinematics_msgs::GetKinematicSolverInfo>
00014 ("pr2_right_arm_kinematics/get_fk_solver_info");
00015 ros::ServiceClient fk_client = rh.serviceClient
00016 <kinematics_msgs::GetPositionFK>("pr2_right_arm_kinematics/get_fk");
00017
00018
00019 kinematics_msgs::GetKinematicSolverInfo::Request request;
00020 kinematics_msgs::GetKinematicSolverInfo::Response response;
00021 if(query_client.call(request,response))
00022 {
00023 for(unsigned int i=0;
00024 i< response.kinematic_solver_info.joint_names.size(); i++)
00025 {
00026 ROS_DEBUG("Joint: %d %s", i,
00027 response.kinematic_solver_info.joint_names[i].c_str());
00028 }
00029 }
00030 else
00031 {
00032 ROS_ERROR("Could not call query service");
00033 ros::shutdown();
00034 exit(1);
00035 }
00036
00037 kinematics_msgs::GetPositionFK::Request fk_request;
00038 kinematics_msgs::GetPositionFK::Response fk_response;
00039 fk_request.header.frame_id = "torso_lift_link";
00040 fk_request.fk_link_names.resize(2);
00041 fk_request.fk_link_names[0] = "r_wrist_roll_link";
00042 fk_request.fk_link_names[1] = "r_elbow_flex_link";
00043 fk_request.robot_state.joint_state.position.resize
00044 (response.kinematic_solver_info.joint_names.size());
00045 fk_request.robot_state.joint_state.name =
00046 response.kinematic_solver_info.joint_names;
00047 for(unsigned int i=0;
00048 i< response.kinematic_solver_info.joint_names.size(); i++)
00049 {
00050 fk_request.robot_state.joint_state.position[i] = 0.5;
00051 }
00052 if(fk_client.call(fk_request, fk_response))
00053 {
00054 if(fk_response.error_code.val == fk_response.error_code.SUCCESS)
00055 {
00056 for(unsigned int i=0; i < fk_response.pose_stamped.size(); i ++)
00057 {
00058 ROS_INFO_STREAM("Link : " << fk_response.fk_link_names[i].c_str());
00059 ROS_INFO_STREAM("Position: " <<
00060 fk_response.pose_stamped[i].pose.position.x << "," <<
00061 fk_response.pose_stamped[i].pose.position.y << "," <<
00062 fk_response.pose_stamped[i].pose.position.z);
00063 ROS_INFO("Orientation: %f %f %f %f",
00064 fk_response.pose_stamped[i].pose.orientation.x,
00065 fk_response.pose_stamped[i].pose.orientation.y,
00066 fk_response.pose_stamped[i].pose.orientation.z,
00067 fk_response.pose_stamped[i].pose.orientation.w);
00068 }
00069 }
00070 else
00071 {
00072 ROS_ERROR("Forward kinematics failed");
00073 }
00074 }
00075 else
00076 {
00077 ROS_ERROR("Forward kinematics service call failed");
00078 }
00079 ros::shutdown();
00080 }
