fanuc_robot_state_node.cpp

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/*
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 * Copyright (c) 2013, TU Delft Robotics Institute
 * All rights reserved.
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 *    with the distribution.
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 *    of its contributors may be used to endorse or promote products
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 * Author: G.A. vd. Hoorn - TU Delft Robotics Institute
 */

#include <fanuc_driver/fanuc_utils.h>

#include <industrial_robot_client/robot_state_interface.h>
#include <industrial_utils/param_utils.h>


using industrial_robot_client::robot_state_interface::RobotStateInterface;
using industrial_robot_client::joint_relay_handler::JointRelayHandler;
using industrial_utils::param::getJointNames;


class Fanuc_JointRelayHandler : public JointRelayHandler
{
        int J23_factor_;


public:
        Fanuc_JointRelayHandler() : JointRelayHandler(), J23_factor_(0)
        {
                if (ros::param::has("J23_factor"))
                {
                        ros::param::get("J23_factor", this->J23_factor_);
                }
                else
                {
                        // TODO: abort on missing parameter
                        ROS_ERROR("Joint 2-3 linkage factor parameter not supplied.");
                }
        }


        virtual ~Fanuc_JointRelayHandler() {}


        bool transform(const std::vector<double>& pos_in, std::vector<double>* pos_out)
        {
                // compensate for J2-J3 coupling in Fanuc manipulator, if required
                fanuc::utils::linkage_transform(pos_in, pos_out, J23_factor_);
                return true;
        }
};


int main(int argc, char** argv)
{
        // initialize node
        ros::init(argc, argv, "state_interface");

        // launch the default Robot State Interface connection/handlers
        RobotStateInterface rsi;
        rsi.init();

        // replace the generic JointRelayHandler with our Fanuc specific one as
        // we need to correct the reported joint angles
        Fanuc_JointRelayHandler jointHandler;
        std::vector<std::string> joint_names;
        getJointNames("controller_joint_names", joint_names);
        jointHandler.init(rsi.get_connection(), joint_names);
        rsi.add_handler(&jointHandler);

        // run the node
        rsi.run();

        return 0;
}