jointspub_alg_node.cpp

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#include "jointspub_alg_node.h"
#include "gazebo_msgs/SetModelState.h"
#include "gazebo_msgs/GetModelState.h"
 
JointspubAlgNode::JointspubAlgNode(void) :
  algorithm_base::IriBaseAlgorithm<JointspubAlgorithm>()
{
  //init class attributes if necessary
  //this->loop_rate_ = 2;//in [Hz]

  // [init publishers]
  this->joints_publisher_ = this->public_node_handle_.advertise<sensor_msgs::JointState>("arm_joints_states", 1);

  
  // [init subscribers]
  this->get_joints_subscriber_ = this->public_node_handle_.subscribe("get_link_states", 1, &JointspubAlgNode::get_joints_callback, this);
  
  // [init services]
 
  // [init clients]
  
  // [init action servers]
  
  // [init action clients]
}

JointspubAlgNode::~JointspubAlgNode(void)
{
  // [free dynamic memory]
}

void JointspubAlgNode::mainNodeThread(void)
{
  // [fill msg structures]
  
  // [fill srv structure and make request to the server]
    
  // [fill action structure and make request to the action server]

  // [publish messages]

}

/*  [subscriber callbacks] */
void JointspubAlgNode::get_joints_callback(const gazebo_msgs::LinkStates::ConstPtr& msg) 
{ 
  
  //ROS_INFO("JointspubAlgNode::get_joints_callback: New Message Received");
  
  //use appropiate mutex to shared variables if necessary 
  //this->alg_.lock(); 
  this->get_joints_mutex_.enter(); 
  
  Joints_.header.stamp=ros::Time::now();
  Joints_.header.frame_id="";
  Joints_.name.resize(5);
  Joints_.position.resize(5);
  Joints_.velocity.resize(5);
  Joints_.effort.resize(5);

  for (int s=0; s<int(msg->name.size()); ++s){

    if (msg->name[s]=="quadrotor::arm_g1"){
      Joints_.position[0]=0.0;
      Joints_.velocity[0]=0.0;
      Joints_.effort[0]=100;
    }
    if (msg->name[s]=="quadrotor::arm_B1"){
      Joints_.name[1]=msg->name[s];
      Joints_.position[1]=0.0;
      Joints_.velocity[1]=0.0;
      Joints_.effort[1]=100;
    } 
    if (msg->name[s]=="quadrotor::arm_B2"){
      Joints_.name[2]=msg->name[s];
      Joints_.position[2]=1.571;
      Joints_.velocity[2]=0.0;
      Joints_.effort[2]=100;
    } 
    if (msg->name[s]=="quadrotor::arm_B3"){
      Joints_.name[3]=msg->name[s];
      Joints_.position[3]=1.571;
      Joints_.velocity[3]=0.0;
      Joints_.effort[3]=100;
    }
    if (msg->name[s]=="quadrotor::arm_B4"){
      Joints_.name[4]=msg->name[s];
      Joints_.position[4]=0.7071;
      Joints_.velocity[4]=0.0;
      Joints_.effort[4]=100;
    }
    this->joints_publisher_.publish(this->Joints_);
  }
  //unlock previously blocked shared variables 
  //this->alg_.unlock(); 
  this->get_joints_mutex_.exit(); 
}

/*  [service callbacks] */

/*  [action callbacks] */

/*  [action requests] */

void JointspubAlgNode::node_config_update(Config &config, uint32_t level)
{
  this->alg_.lock();

  this->alg_.unlock();
}

void JointspubAlgNode::addNodeDiagnostics(void)
{
}

/* main function */
int main(int argc,char *argv[])
{
  return algorithm_base::main<JointspubAlgNode>(argc, argv, "jointspub_alg_node");
}