motor_joint_calibration_controller.cpp

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#include "joint_qualification_controllers/motor_joint_calibration_controller.h"
#include "ros/time.h"
#include "pluginlib/class_list_macros.h"


PLUGINLIB_DECLARE_CLASS(joint_qualification_controllers, MotorJointCalibrationController, 
                        joint_qualification_controllers::MotorJointCalibrationController, pr2_controller_interface::Controller)

using namespace std;
using namespace joint_qualification_controllers;


MotorJointCalibrationController::MotorJointCalibrationController()
: robot_(NULL), last_publish_time_(0), joint_(NULL)
{
}

MotorJointCalibrationController::~MotorJointCalibrationController()
{
}

bool MotorJointCalibrationController::init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
{
  robot_ = robot;
  node_ = n;

  // Joint

  std::string joint_name;
  if (!node_.getParam("joint", joint_name))
  {
    ROS_ERROR("No joint given (namespace: %s)", node_.getNamespace().c_str());
    return false;
  }
  if (!(joint_ = robot->getJointState(joint_name)))
  {
    ROS_ERROR("Could not find joint %s (namespace: %s)",
              joint_name.c_str(), node_.getNamespace().c_str());
    return false;
  }

  // "Calibrated" topic
  pub_calibrated_.reset(
    new realtime_tools::RealtimePublisher<std_msgs::Empty>(node_, "calibrated", 1));

  // Calibrate at zero, basically
  joint_->calibrated_ = true;

  return true;
}


void MotorJointCalibrationController::update()
{
  assert(joint_);

  if (pub_calibrated_)
  {
    if (last_publish_time_ + ros::Duration(0.5) < robot_->getTime())
    {
      assert(pub_calibrated_);
      if (pub_calibrated_->trylock())
      {
        last_publish_time_ = robot_->getTime();
        pub_calibrated_->unlockAndPublish();
      }
    }
  }

}