get_fk.cpp
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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("rosie_right_arm_kinematics/get_fk_solver_info");
00010   ros::service::waitForService("rosie_right_arm_kinematics/get_fk");
00011 
00012   ros::ServiceClient query_client = 
00013     rh.serviceClient<kinematics_msgs::GetKinematicSolverInfo>
00014     ("rosie_right_arm_kinematics/get_fk_solver_info");
00015   ros::ServiceClient fk_client = rh.serviceClient
00016     <kinematics_msgs::GetPositionFK>("rosie_right_arm_kinematics/get_fk");
00017 
00018   // define the service messages
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   // define the service messages
00037   kinematics_msgs::GetPositionFK::Request  fk_request;
00038   kinematics_msgs::GetPositionFK::Response fk_response;
00039   fk_request.header.frame_id = "calib_right_arm_base_link";
00040   fk_request.header.frame_id = "base_link";
00041   fk_request.fk_link_names.resize(2);
00042   fk_request.fk_link_names[0] = "right_arm_hand_link";
00043   fk_request.fk_link_names[1] = "right_arm_2_link";
00044   fk_request.robot_state.joint_state.position.resize
00045     (response.kinematic_solver_info.joint_names.size());
00046   fk_request.robot_state.joint_state.name = 
00047     response.kinematic_solver_info.joint_names;
00048   for(unsigned int i=0; 
00049       i< response.kinematic_solver_info.joint_names.size(); i++)
00050   {
00051     fk_request.robot_state.joint_state.position[i] = 0.1;
00052   }
00053   if(fk_client.call(fk_request, fk_response))
00054   {
00055     if(fk_response.error_code.val == fk_response.error_code.SUCCESS)
00056     {
00057       for(unsigned int i=0; i < fk_response.pose_stamped.size(); i ++)
00058       {
00059         ROS_INFO_STREAM("Link    : " << fk_response.fk_link_names[i].c_str());
00060         ROS_INFO_STREAM("Position: " << 
00061           fk_response.pose_stamped[i].pose.position.x << "," <<  
00062           fk_response.pose_stamped[i].pose.position.y << "," << 
00063           fk_response.pose_stamped[i].pose.position.z);
00064         ROS_INFO("Orientation: %f %f %f %f",
00065           fk_response.pose_stamped[i].pose.orientation.x,
00066           fk_response.pose_stamped[i].pose.orientation.y,
00067           fk_response.pose_stamped[i].pose.orientation.z,
00068           fk_response.pose_stamped[i].pose.orientation.w);
00069       } 
00070     }
00071     else
00072     {
00073       ROS_ERROR("Forward kinematics failed");
00074     }
00075   }
00076   else
00077   {
00078     ROS_ERROR("Forward kinematics service call failed");
00079   }
00080   ros::shutdown();
00081 }
00082 
00083 


rosie_arm_kinematics_test
Author(s): Alexis Maldonado
autogenerated on Mon Oct 6 2014 08:36:21