abb_joint_downloader_node.cpp

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#include "abb_driver/abb_utils.h"
#include "industrial_robot_client/joint_trajectory_downloader.h"
#include "industrial_utils/param_utils.h"
 
using industrial_robot_client::joint_trajectory_downloader::JointTrajectoryDownloader;
namespace StandardSocketPorts = industrial::simple_socket::StandardSocketPorts;
 
class ABB_JointTrajectoryDownloader : public JointTrajectoryDownloader
{
  using JointTrajectoryDownloader::init;  // so base-class init() stays visible
 
  bool J23_coupled_;
 
public:
  bool init(std::string default_ip = "", int default_port = StandardSocketPorts::MOTION)
  {
    if (!JointTrajectoryDownloader::init(default_ip, default_port))  // call base-class init()
      return false;
 
    if (ros::param::has("J23_coupled"))
      ros::param::get("J23_coupled", this->J23_coupled_);
    else
      J23_coupled_ = false;
 
    return true;
  }
 
  bool transform(const trajectory_msgs::JointTrajectoryPoint& pt_in, trajectory_msgs::JointTrajectoryPoint* pt_out)
  {
    // correct for parallel linkage effects, if desired
    //   - use POSITIVE factor for joint->motor correction
    abb::utils::linkage_transform(pt_in, pt_out, J23_coupled_ ? +1:0 );
 
    return true;
  }
 
  bool calc_velocity(const trajectory_msgs::JointTrajectoryPoint& pt, double* rbt_velocity)
  {
    *rbt_velocity = 0;  // unused by ABB driver
    return true;
  }
};
 
int main(int argc, char** argv)
{
  // initialize node
  ros::init(argc, argv, "motion_interface");
 
  // launch the default JointTrajectoryDownloader connection/handlers
  ABB_JointTrajectoryDownloader motionInterface;
  motionInterface.init();
  motionInterface.run();
 
  return 0;
}