Torso.cpp
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00001 /*
00002  * Copyright (c) 2010, Thomas Ruehr <ruehr@cs.tum.edu>
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 
00031 #include <ias_drawer_executive/Torso.h>
00032 //include <ros/ros.h>
00033 //nclude <pr2_controllers_msgs/SingleJointPositionAction.h>
00034 //include <actionlib/client/simple_action_client.h>
00035 
00036 
00037 Torso *Torso::instance = 0;
00038 
00039   //Action client initialization
00040   Torso::Torso(){
00041 
00042     torso_client_ = new TorsoClient("torso_controller/position_joint_action", true);
00043 
00044     //wait for the action server to come up
00045     while(!torso_client_->waitForServer(ros::Duration(5.0))){
00046       ROS_INFO("Waiting for the torso action server to come up");
00047     }
00048   }
00049 
00050   void Torso::pos( double position ){
00051 
00052     pr2_controllers_msgs::SingleJointPositionGoal up;
00053     up.position = position;  //all the way up is 0.2
00054     up.min_duration = ros::Duration(2.0);
00055     up.max_velocity = 1.0;
00056 
00057     ROS_INFO("Sending position goal %f ", position);
00058     torso_client_->sendGoal(up);
00059     torso_client_->waitForResult();
00060   }
00061 
00062   //tell the torso to go up
00063   void Torso::up(){
00064 
00065     pr2_controllers_msgs::SingleJointPositionGoal up;
00066     up.position = 0.29;  //all the way up is 0.2
00067     up.min_duration = ros::Duration(2.0);
00068     up.max_velocity = 1.0;
00069 
00070     ROS_INFO("Sending up goal");
00071     torso_client_->sendGoal(up);
00072     torso_client_->waitForResult();
00073     ROS_INFO("TORSO IS UP");
00074   }
00075 
00076   //tell the torso to go down
00077   void Torso::down(){
00078 
00079     pr2_controllers_msgs::SingleJointPositionGoal down;
00080     down.position = 0.01;
00081     down.min_duration = ros::Duration(2.0);
00082     down.max_velocity = 1.0;
00083 
00084     ROS_INFO("Sending down goal");
00085     torso_client_->sendGoal(down);
00086     torso_client_->waitForResult();
00087     ROS_INFO("TORSO IS DOWN");
00088   }
00089 
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ias_drawer_executive
Author(s): Thomas Ruehr
autogenerated on Thu May 23 2013 09:44:57