00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2015, University of Colorado, Boulder 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Univ of CO, Boulder nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 ********************************************************************* 00034 00035 Author: Dave Coleman 00036 */ 00037 00038 #ifndef AUBO_HARDWARE_INTERFACE_H 00039 #define AUBO_HARDWARE_INTERFACE_H 00040 00041 #include <hardware_interface/joint_state_interface.h> 00042 #include <hardware_interface/joint_command_interface.h> 00043 #include <hardware_interface/force_torque_sensor_interface.h> 00044 #include <hardware_interface/robot_hw.h> 00045 #include <hardware_interface/controller_info.h> 00046 #include <controller_manager/controller_manager.h> 00047 #include <boost/scoped_ptr.hpp> 00048 #include <ros/ros.h> 00049 #include <math.h> 00050 #include "do_output.h" 00051 #include "aubo_new_driver.h" 00052 00053 namespace ros_control_aubo { 00054 00055 // For simulation only - determines how fast a trajectory is followed 00056 static const double POSITION_STEP_FACTOR = 1; 00057 static const double VELOCITY_STEP_FACTOR = 1; 00058 00060 class AuboHardwareInterface: public hardware_interface::RobotHW { 00061 public: 00062 00067 AuboHardwareInterface(ros::NodeHandle& nh, AuboNewDriver* robot); 00068 00070 virtual void init(); 00071 00073 virtual void read(); 00074 00076 virtual void write(); 00077 00078 void setMaxVelChange(double inp); 00079 00080 bool canSwitch( 00081 const std::list<hardware_interface::ControllerInfo> &start_list, 00082 const std::list<hardware_interface::ControllerInfo> &stop_list) const; 00083 void doSwitch(const std::list<hardware_interface::ControllerInfo>&start_list, 00084 const std::list<hardware_interface::ControllerInfo>&stop_list); 00085 00086 protected: 00087 00088 // Startup and shutdown of the internal node inside a roscpp program 00089 ros::NodeHandle nh_; 00090 00091 // Interfaces 00092 hardware_interface::JointStateInterface joint_state_interface_; 00093 hardware_interface::ForceTorqueSensorInterface force_torque_interface_; 00094 hardware_interface::PositionJointInterface position_joint_interface_; 00095 hardware_interface::VelocityJointInterface velocity_joint_interface_; 00096 bool velocity_interface_running_; 00097 bool position_interface_running_; 00098 // Shared memory 00099 std::vector<std::string> joint_names_; 00100 std::vector<double> joint_position_; 00101 std::vector<double> joint_velocity_; 00102 std::vector<double> joint_effort_; 00103 std::vector<double> last_joint_position_command_; 00104 std::vector<double> joint_position_command_; 00105 std::vector<double> joint_velocity_command_; 00106 std::vector<double> prev_joint_velocity_command_; 00107 std::size_t num_joints_; 00108 double robot_force_[3] = { 0., 0., 0. }; 00109 double robot_torque_[3] = { 0., 0., 0. }; 00110 00111 double max_vel_change_; 00112 00113 // Robot API 00114 AuboNewDriver* robot_; 00115 00116 }; 00117 // class 00118 00119 }// namespace 00120 00121 #endif