bool MotomanJointTrajectoryStreamer::VectorToJointData(const std::vector<double> &vec,
JointData &joints)
{
if (vec.size() > joints.getMaxNumJoints())
ROS_ERROR_RETURN(false, "Failed to copy to JointData. Len (%d) out of range (0 to %d)",
vec.size(), joints.getMaxNumJoints());
joints.init();
for (int i = 0; i < vec.size(); ++i)
{
joints.setJoint(i, vec[i]);
}
return true;
}
TEST(DISABLED_TrajectoryJob, init)
{
using namespace std;
TrajectoryJob job;
JointTraj traj;
JointTrajPt pt;
JointData init;
string job_name = "JOB_NAME";
string job_ext = ".JBI";
const int TRAJ_SIZE = 50;
const int BIG_JOB_BUFFER_SIZE = 500000;
char bigJobBuffer[BIG_JOB_BUFFER_SIZE];
const int SMALL_JOB_BUFFER_SIZE = 10;
char smallJobBuffer[SMALL_JOB_BUFFER_SIZE];
for (int i = 1; i <= TRAJ_SIZE; i++)
{
//ROS_DEBUG("Initializing joint: %d", i);
for (int j = 0; j < init.getMaxNumJoints(); j++)
{
//ROS_DEBUG("Initializing point: %d.%d", i, j);
ASSERT_TRUE(init.setJoint(j, (i*(j+1))));
}
pt.init(i, init, 11.1111, 0.01);
ASSERT_TRUE(traj.addPoint(pt));
}
EXPECT_FALSE(job.init("this name is way too long to be the name of a file and this should fail"));
ASSERT_TRUE(job.init((char*)job_name.c_str()));
EXPECT_FALSE(job.toJobString(traj, &smallJobBuffer[0], SMALL_JOB_BUFFER_SIZE));
// Test is disabled because the line below fails due to missing conversions functions. This
// ability has been moved to the controller and now is dynamically updated at runtime. There
// may not be a solution to this issue.
EXPECT_TRUE(job.toJobString(traj, &bigJobBuffer[0], BIG_JOB_BUFFER_SIZE));
ofstream file;
job_name.append(job_ext);
file.open(job_name.c_str());
ASSERT_TRUE(file.is_open());
file << bigJobBuffer;
file.close();
}
void JointTrajectoryDownloader::jointTrajectoryCB(
const trajectory_msgs::JointTrajectoryConstPtr &msg)
{
ROS_INFO("Receiving joint trajectory message");
/*
if (!checkTrajectory(msg))
{
ROS_ERROR("Joint trajectory check failed, trajectory not downloaded");
return;
}
std::vector<double> joint_velocity_limits;
if (!getVelocityLimits("robot_description", msg->joint_names, joint_velocity_limits))
{
ROS_ERROR("Failed to get joint velocity limits");
return;
}
*/
for (int i = 0; i < msg->points.size(); i++)
{
ROS_INFO("Sending joints trajectory point[%d]", i);
JointTrajPt jPt;
JointTrajPtMessage jMsg;
SimpleMessage topic;
trajectory_msgs::JointTrajectoryPoint pt;
pt = msg->points[i];
// The first and last sequence values must be given a special sequence
// value
if (0 == i)
{
ROS_DEBUG("First trajectory point, setting special sequence value");
jPt.setSequence(SpecialSeqValues::START_TRAJECTORY_DOWNLOAD);
}
else if (msg->points.size() - 1 == i)
{
ROS_DEBUG("Last trajectory point, setting special sequence value");
jMsg.point_.setSequence(SpecialSeqValues::END_TRAJECTORY);
}
else
{
jMsg.point_.setSequence(i);
}
// Copy position data to local variable
JointData data;
for (int j = 0; j < msg->joint_names.size(); j++)
{
pt = msg->points[j];
data.setJoint(j, pt.positions[j]);
}
// Initialize joint trajectory message
jPt.setJointPosition(data);
jMsg.init(jPt);
jMsg.toTopic(topic);
ROS_DEBUG("Sending joint trajectory point");
if (this->robot_->sendMsg(topic))
{
ROS_INFO("Point[%d] sent to controller", i);
}
else
{
ROS_WARN("Failed sent joint point, skipping point");
}
}
}
void JointTrajectoryDownloader::jointTrajectoryCB(
const trajectory_msgs::JointTrajectoryConstPtr &msg)
{
ROS_INFO("Receiving joint trajectory message");
// TBD: re-enable in a more generic fashion?
//if (!checkTrajectory(msg))
//{
// ROS_ERROR("Joint trajectory check failed, trajectory not downloaded");
// return;
//}
std::vector<double> joint_velocity_limits;
std::vector<trajectory_msgs::JointTrajectoryPoint> points(msg->points);
// TBD: re-enable velocity scaling
//if (!getVelocityLimits("robot_description", msg, joint_velocity_limits))
//{
// ROS_ERROR("Failed to get joint velocity limits");
// return;
//}
// Trajectory download requires at least two points (START/END)
if (points.size() < 2)
points.push_back(trajectory_msgs::JointTrajectoryPoint(points[0]));
if (!this->robot_->isConnected())
{
ROS_WARN("Attempting robot reconnection");
this->robot_->makeConnect();
}
ROS_INFO("Sending trajectory points, size: %d", points.size());
for (int i = 0; i < points.size(); i++)
{
ROS_INFO("Sending joints trajectory point[%d]", i);
JointTrajPt jPt;
JointTrajPtMessage jMsg;
SimpleMessage topic;
// Performing a manual copy of the joint velocities in order to send them
// to the utility function. Passing the pt data members doesn't seem to
// work.
std::vector<double> joint_velocities(0.0);
double velocity =0 ;
joint_velocities.resize(msg->joint_names.size(), 0.0);
for (int j = 0; j < joint_velocities.size(); j++)
{
joint_velocities[j] = points[i].velocities[j];
}
ROS_DEBUG("Joint velocities copied");
// TBD: restore joint-velocity scaling
//velocity = toMotomanVelocity(joint_velocity_limits, joint_velocities);
velocity = 0.20; // TBD: hardcode for now
jPt.setVelocity(velocity);
// The first and last sequence values must be given a special sequence
// value
if (0 == i)
{
ROS_DEBUG("First trajectory point, setting special sequence value");
jPt.setSequence(SpecialSeqValues::START_TRAJECTORY_DOWNLOAD);
}
else if (points.size() - 1 == i)
{
ROS_DEBUG("Last trajectory point, setting special sequence value");
jPt.setSequence(SpecialSeqValues::END_TRAJECTORY);
}
else
{
jPt.setSequence(i);
}
// Copy position data to local variable
JointData data;
for (int j = 0; j < msg->joint_names.size(); j++)
{
data.setJoint(j, points[i].positions[j]);
}
// Initialize joint trajectory message
jPt.setJointPosition(data);
jMsg.init(jPt);
jMsg.toTopic(topic);
ROS_DEBUG("Sending joint trajectory point");
if (this->robot_->sendMsg(topic))
{
ROS_INFO("Point[%d] sent to controller", i);
}
else
{
ROS_WARN("Failed sent joint point, skipping point");
}
}
}