//service function for execute_cartesian_ik_trajectory
bool execute_cartesian_ik_trajectory(
ur5_control::ExecuteCartesianIKTrajectory::Request &req,
ur5_control::ExecuteCartesianIKTrajectory::Response &res)
{
int trajectory_length = req.poses.size();
int i, j;
/* Load the robot model */
robot_model_loader::RobotModelLoader robot_model_loader("robot_description");
/* Get a shared pointer to the model */
robot_model::RobotModelPtr kinematic_model = robot_model_loader.getModel();
/* Create a kinematic state - this represents the configuration for the robot represented by kinematic_model */
robot_state::RobotStatePtr kinematic_state(new robot_state::RobotState(kinematic_model));
/* Get the configuration for the joints in the right arm of the PR2*/
robot_state::JointStateGroup* joint_state_group = kinematic_state->getJointStateGroup("manipulator");
/* Get the names of the joints in the right_arm*/
const std::vector<std::string> &joint_names = joint_state_group->getJointModelGroup()->getJointModelNames();
//IK takes in Cartesian poses stamped with the frame they belong to
geometry_msgs::PoseStamped stamped_pose;
stamped_pose.header = req.header;
stamped_pose.header.stamp = ros::Time::now();
bool success;
std::vector<double *> joint_trajectory;
//get the current joint angles (to find ik solutions close to)
double last_angles[6];
get_current_joint_angles(last_angles);
//find IK solutions for each point along the trajectory
//and stick them into joint_trajectory
for(i=0; i<trajectory_length; i++){
stamped_pose.pose = req.poses[i];
double *trajectory_point = new double[6];
success = run_ik(stamped_pose.pose, last_angles, trajectory_point, "ee_link",
joint_state_group, joint_names);
joint_trajectory.push_back(trajectory_point);
if(!success){
ROS_ERROR("IK solution not found for trajectory point number %d!\n", i);
return 0;
}
for(j=0; j<6; j++) last_angles[j] = trajectory_point[j];
}
//run the resulting joint trajectory
ROS_INFO("executing joint trajectory");
success = execute_joint_trajectory(joint_trajectory);
res.success = success;
return success;
}
//service function for execute_cartesian_ik_trajectory
bool execute_cartesian_ik_trajectory(
ik_trajectory_tutorial::ExecuteCartesianIKTrajectory::Request &req,
ik_trajectory_tutorial::ExecuteCartesianIKTrajectory::Response &res){
int trajectory_length = req.poses.size();
int i, j;
//IK takes in Cartesian poses stamped with the frame they belong to
geometry_msgs::PoseStamped stamped_pose;
stamped_pose.header = req.header;
stamped_pose.header.stamp = ros::Time::now();
bool success;
std::vector<double *> joint_trajectory;
//get the current joint angles (to find ik solutions close to)
double last_angles[7];
get_current_joint_angles(last_angles);
double *trajectory_point = new double[7];
//find IK solutions for each point along the trajectory
//and stick them into joint_trajectory
for(i=0; i<trajectory_length; i++){
stamped_pose.pose = req.poses[i];
success = run_ik(stamped_pose, last_angles, trajectory_point, "l_wrist_roll_link");
joint_trajectory.push_back(trajectory_point);
if(!success){
ROS_ERROR("IK solution not found for trajectory point number %d!\n", i);
return 0;
}
for(j=0; j<7; j++){
last_angles[j] = trajectory_point[j];
if(j == 6)
ROS_INFO("Trajectory point %f \n", trajectory_point[j]);
}
}
//run the resulting joint trajectory
ROS_INFO("executing joint trajectory");
ros::ServiceClient client = node.serviceClient<simple_trajectory::MoveMultipleJoints>("move_multiple_joints");
simple_trajectory::MoveMultipleJoints srv;
srv.request.arm = 1;
for(int i= 0; i < 7; i++)
srv.request.jointAngles.push_back(trajectory_point[i]);
if(client.call(srv))
ROS_INFO("It worked");
else
ROS_INFO("It f****d");
//success = execute_joint_trajectory(joint_trajectory);
res.success = success;
return success;
}
//service function for execute_cartesian_ik_trajectory
bool execute_cartesian_ik_trajectory(
ik_trajectory::ExecuteCartesianIKTrajectory::Request &req,
ik_trajectory::ExecuteCartesianIKTrajectory::Response &res)
{
int trajectory_length = req.poses.size();
int i, j;
//IK takes in Cartesian poses stamped with the frame they belong to
geometry_msgs::PoseStamped stamped_pose;
stamped_pose.header = req.header;
stamped_pose.header.stamp = ros::Time::now();
bool success;
std::vector<double *> joint_trajectory;
//get the current joint angles (to find ik solutions close to)
double last_angles[6];
get_current_joint_angles(last_angles);
//find IK solutions for each point along the trajectory
//and stick them into joint_trajectory
for(i=0; i<trajectory_length; i++){
stamped_pose.pose = req.poses[i];
double *trajectory_point = new double[6];
success = run_ik(stamped_pose, last_angles, trajectory_point, "wrist_3_link");
joint_trajectory.push_back(trajectory_point);
if(!success){
ROS_ERROR("IK solution not found for trajectory point number %d!\n", i);
return 0;
}
for(j=0; j<6; j++) last_angles[j] = trajectory_point[j];
}
//run the resulting joint trajectory
ROS_INFO("executing joint trajectory");
success = execute_joint_trajectory(joint_trajectory);
res.success = success;
return success;
}
//send a desired joint trajectory to the joint trajectory action
//and wait for it to finish
bool execute_joint_trajectory(std::vector<double *> joint_trajectory)
{
int i, j;
int trajectorylength = joint_trajectory.size();
//get the current joint angles
double current_angles[6];
get_current_joint_angles(current_angles);
//fill the goal message with the desired joint trajectory
goal.trajectory.points.resize(trajectorylength+1);
//set the first trajectory point to the current position
goal.trajectory.points[0].positions.resize(6);
goal.trajectory.points[0].velocities.resize(6);
for(j=0; j<6; j++)
{
goal.trajectory.points[0].positions[j] = current_angles[j];
goal.trajectory.points[0].velocities[j] = 0.0;
}
//make the first trajectory point start 0.25 seconds from when we run
goal.trajectory.points[0].time_from_start = ros::Duration(0.25);
//fill in the rest of the trajectory
double time_from_start = 0.25;
for(i=0; i<trajectorylength; i++)
{
goal.trajectory.points[i+1].positions.resize(6);
goal.trajectory.points[i+1].velocities.resize(6);
//fill in the joint positions (velocities of 0 mean that the arm
//will try to stop briefly at each waypoint)
for(j=0; j<6; j++)
{
goal.trajectory.points[i+1].positions[j] = joint_trajectory[i][j];
goal.trajectory.points[i+1].velocities[j] = 0.0;
}
//compute a desired time for this trajectory point using a max
//joint velocity
double max_joint_move = 0;
for(j=0; j<6; j++)
{
double joint_move = fabs(goal.trajectory.points[i+1].positions[j]
- goal.trajectory.points[i].positions[j]);
if(joint_move > max_joint_move) max_joint_move = joint_move;
}
double seconds = max_joint_move/MAX_JOINT_VEL;
ROS_INFO("max_joint_move: %0.3f, seconds: %0.3f", max_joint_move, seconds);
time_from_start += seconds;
goal.trajectory.points[i+1].time_from_start =
ros::Duration(time_from_start);
}
//when to start the trajectory
goal.trajectory.header.stamp = ros::Time::now() + ros::Duration(0.25);
ROS_INFO("Sending goal to joint_trajectory_action");
action_client->sendGoal(goal);
action_client->waitForResult();
//get the current joint angles for debugging
get_current_joint_angles(current_angles);
// ROS_INFO("joint angles after trajectory: %0.3f %0.3f %0.3f %0.3f %0.3f %0.3f %0.3f\n",current_angles[0],current_angles[1],current_angles[2],current_angles[3],current_angles[4],current_angles[5]);
if(action_client->getState() == actionlib::SimpleClientGoalState::SUCCEEDED){
ROS_INFO("Hooray, the arm finished the trajectory!");
return 1;
}
ROS_INFO("The arm failed to execute the trajectory.");
return 0;
}
// up and down the scanner
pr2_controllers_msgs::JointTrajectoryGoal PR2MoveArmJoint::armScanTrajectory(int flag, float down_value, float up_value)
{
pr2_controllers_msgs::JointTrajectoryGoal goal;
if(flag==0){
goal.trajectory.joint_names.push_back("l_shoulder_pan_joint");
goal.trajectory.joint_names.push_back("l_shoulder_lift_joint");
goal.trajectory.joint_names.push_back("l_upper_arm_roll_joint");
goal.trajectory.joint_names.push_back("l_elbow_flex_joint");
goal.trajectory.joint_names.push_back("l_forearm_roll_joint");
goal.trajectory.joint_names.push_back("l_wrist_flex_joint");
goal.trajectory.joint_names.push_back("l_wrist_roll_joint");
goal.trajectory.points.resize(2);
double current_angles[7];
get_current_joint_angles(current_angles);
// double initalRightWristFlex = current_angles[5];
// First trajectory point: up
int ind = 0;
goal.trajectory.points[ind].positions.resize(7);
goal.trajectory.points[ind].positions[0] = current_angles[0];
goal.trajectory.points[ind].positions[1] = current_angles[1];
goal.trajectory.points[ind].positions[2] = current_angles[2];
goal.trajectory.points[ind].positions[3] = current_angles[3];
goal.trajectory.points[ind].positions[4] = current_angles[4];
goal.trajectory.points[ind].positions[5] = up_value; // down
//goal.trajectory.points[ind].positions[5] = -1.697; // down
//goal.trajectory.points[ind].positions[5] = -1.7; // down
//goal.trajectory.points[ind].positions[5] = -2.0; // down
//goal.trajectory.points[ind].positions[5] = -2.05; // down
goal.trajectory.points[ind].positions[6] = current_angles[6];
goal.trajectory.points[ind].velocities.resize(7);
for (size_t j = 0; j < 7; ++j)
{
goal.trajectory.points[ind].velocities[j] = 0.0;
}
// goal.trajectory.points[ind].velocities[5] = 0.01;
// goal.trajectory.points[ind].velocities[6] = 0.0;
//goal.trajectory.points[ind].time_from_start = ros::Duration(8); // 5 is great
goal.trajectory.points[ind].time_from_start = ros::Duration(3); // 5 is great
// Second traj point: down
ind += 1;
goal.trajectory.points[ind].positions.resize(7);
goal.trajectory.points[ind].positions[0] = current_angles[0];
goal.trajectory.points[ind].positions[1] = current_angles[1];
goal.trajectory.points[ind].positions[2] = current_angles[2];
goal.trajectory.points[ind].positions[3] = current_angles[3];
goal.trajectory.points[ind].positions[4] = current_angles[4];
goal.trajectory.points[ind].positions[5] = down_value; // up
//goal.trajectory.points[ind].positions[5] = -1.547; // up
//goal.trajectory.points[ind].positions[5] = -1.2; // up
//goal.trajectory.points[ind].positions[5] = -1.6; // up
// goal.trajectory.points[ind].positions[5] = -1.95; // up
goal.trajectory.points[ind].positions[6] = current_angles[6];
goal.trajectory.points[ind].velocities.resize(7);
for (size_t j = 0; j < 7; ++j)
{
goal.trajectory.points[ind].velocities[j] = 0.0;
}
//goal.trajectory.points[ind].velocities[5] = 0.01;
//goal.trajectory.points[ind].velocities[6] = 0.0;
//goal.trajectory.points[ind].time_from_start = ros::Duration(16); // 10 is great
goal.trajectory.points[ind].time_from_start = ros::Duration(6); // 10 is great
}
else if(flag==1){
goal.trajectory.joint_names.push_back("r_shoulder_pan_joint");
goal.trajectory.joint_names.push_back("r_shoulder_lift_joint");
goal.trajectory.joint_names.push_back("r_upper_arm_roll_joint");
goal.trajectory.joint_names.push_back("r_elbow_flex_joint");
goal.trajectory.joint_names.push_back("r_forearm_roll_joint");
goal.trajectory.joint_names.push_back("r_wrist_flex_joint");
goal.trajectory.joint_names.push_back("r_wrist_roll_joint");
goal.trajectory.points.resize(2);
double current_angles[7];
get_current_joint_angles(current_angles);
// double initalRightWristFlex = current_angles[5];
// First trajectory point: up
int ind = 0;
goal.trajectory.points[ind].positions.resize(7);
goal.trajectory.points[ind].positions[0] = current_angles[0];
goal.trajectory.points[ind].positions[1] = current_angles[1];
goal.trajectory.points[ind].positions[2] = current_angles[2];
goal.trajectory.points[ind].positions[3] = current_angles[3];
goal.trajectory.points[ind].positions[4] = current_angles[4];
goal.trajectory.points[ind].positions[5] = up_value; // down
//goal.trajectory.points[ind].positions[5] = -1.697; // down
//goal.trajectory.points[ind].positions[5] = -1.7; // down
//goal.trajectory.points[ind].positions[5] = -2.0; // down
//goal.trajectory.points[ind].positions[5] = -2.05; // down
goal.trajectory.points[ind].positions[6] = current_angles[6];
goal.trajectory.points[ind].velocities.resize(7);
for (size_t j = 0; j < 7; ++j)
{
goal.trajectory.points[ind].velocities[j] = 0.0;
}
// goal.trajectory.points[ind].velocities[5] = 0.01;
// goal.trajectory.points[ind].velocities[6] = 0.0;
//goal.trajectory.points[ind].time_from_start = ros::Duration(8); // 5 is great
goal.trajectory.points[ind].time_from_start = ros::Duration(4); // 5 is great
// Second traj point: down
ind += 1;
goal.trajectory.points[ind].positions.resize(7);
goal.trajectory.points[ind].positions[0] = current_angles[0];
goal.trajectory.points[ind].positions[1] = current_angles[1];
goal.trajectory.points[ind].positions[2] = current_angles[2];
goal.trajectory.points[ind].positions[3] = current_angles[3];
goal.trajectory.points[ind].positions[4] = current_angles[4];
goal.trajectory.points[ind].positions[5] = down_value; // up
//goal.trajectory.points[ind].positions[5] = -1.547; // up
//goal.trajectory.points[ind].positions[5] = -1.2; // up
//goal.trajectory.points[ind].positions[5] = -1.6; // up
// goal.trajectory.points[ind].positions[5] = -1.95; // up
goal.trajectory.points[ind].positions[6] = current_angles[6];
goal.trajectory.points[ind].velocities.resize(7);
for (size_t j = 0; j < 7; ++j)
{
goal.trajectory.points[ind].velocities[j] = 0.0;
}
//goal.trajectory.points[ind].velocities[5] = 0.01;
//goal.trajectory.points[ind].velocities[6] = 0.0;
//goal.trajectory.points[ind].time_from_start = ros::Duration(16); // 10 is great
goal.trajectory.points[ind].time_from_start = ros::Duration(6); // 10 is great
}
return goal;
}
