cartesian_joint_converter.cc
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2 Copyright (c) 2017, Alexander W. Winkler. All rights reserved.
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29 
31 
32 #include <ros/node_handle.h>
33 
34 #include <xpp_msgs/RobotStateJoint.h>
35 #include <xpp_states/convert.h>
36 
37 namespace xpp {
38 
40  const std::string& cart_topic,
41  const std::string& joint_topic)
42 {
44 
47  ROS_DEBUG("Subscribed to: %s", cart_state_sub_.getTopic().c_str());
48 
49  joint_state_pub_ = n.advertise<xpp_msgs::RobotStateJoint>(joint_topic, 1);
50  ROS_DEBUG("Publishing to: %s", joint_state_pub_.getTopic().c_str());
51 }
52 
53 void
54 CartesianJointConverter::StateCallback (const xpp_msgs::RobotStateCartesian& cart_msg)
55 {
56  auto cart = Convert::ToXpp(cart_msg);
57 
58  // transform feet from world -> base frame
59  Eigen::Matrix3d B_R_W = cart.base_.ang.q.normalized().toRotationMatrix().inverse();
60  EndeffectorsPos ee_B(cart.ee_motion_.GetEECount());
61  for (auto ee : ee_B.GetEEsOrdered())
62  ee_B.at(ee) = B_R_W * (cart.ee_motion_.at(ee).p_ - cart.base_.lin.p_);
63 
64  Eigen::VectorXd q = inverse_kinematics_->GetAllJointAngles(ee_B).ToVec();
65 
66  xpp_msgs::RobotStateJoint joint_msg;
67  joint_msg.base = cart_msg.base;
68  joint_msg.ee_contact = cart_msg.ee_contact;
69  joint_msg.time_from_start = cart_msg.time_from_start;
70  joint_msg.joint_state.position = std::vector<double>(q.data(), q.data()+q.size());
71  // Attention: Not filling joint velocities or torques
72 
73  joint_state_pub_.publish(joint_msg);
74 }
75 
76 } /* namespace xpp */
std::string getTopic() const
T & at(EndeffectorID ee)
std::shared_ptr< InverseKinematics > Ptr
Subscriber subscribe(const std::string &topic, uint32_t queue_size, void(T::*fp)(M), T *obj, const TransportHints &transport_hints=TransportHints())
InverseKinematics::Ptr inverse_kinematics_
#define ROS_DEBUG(...)
void publish(const boost::shared_ptr< M > &message) const
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)
void StateCallback(const xpp_msgs::RobotStateCartesian &msg)
CartesianJointConverter(const InverseKinematics::Ptr &ik, const std::string &cart_topic, const std::string &joint_topic)
Creates a converter initializing the subscriber and publisher.
static StateLin3d ToXpp(const xpp_msgs::StateLin3d &ros)


xpp_vis
Author(s): Alexander W. Winkler
autogenerated on Tue Mar 1 2022 00:07:16