/*!
* \brief Gets parameters from the ROS parameter server and configures the powercube_chain.
*/
void getROSParameters()
{
/// get CanModule
std::string CanModule;
if (n_.hasParam("can_module"))
{
n_.getParam("can_module", CanModule);
}
else
{
ROS_ERROR("Parameter can_module not set, shutting down node...");
n_.shutdown();
}
/// get CanDevice
std::string CanDevice;
if (n_.hasParam("can_device"))
{
n_.getParam("can_device", CanDevice);
}
else
{
ROS_ERROR("Parameter can_device not set, shutting down node...");
n_.shutdown();
}
/// get CanBaudrate
int CanBaudrate;
if (n_.hasParam("can_baudrate"))
{
n_.getParam("can_baudrate", CanBaudrate);
}
else
{
ROS_ERROR("Parameter can_baudrate not set, shutting down node...");
n_.shutdown();
}
/// get Modul IDs
XmlRpc::XmlRpcValue ModulIDsXmlRpc;
std::vector<int> ModulIDs;
if (n_.hasParam("modul_ids"))
{
n_.getParam("modul_ids", ModulIDsXmlRpc);
}
else
{
ROS_ERROR("Parameter modul_ids not set, shutting down node...");
n_.shutdown();
}
/// get force_use_movevel
bool UseMoveVel;
if (n_.hasParam("force_use_movevel"))
{
n_.getParam("force_use_movevel", UseMoveVel);
ROS_INFO("Parameter force_use_movevel set, using moveVel");
}
else
{
ROS_INFO("Parameter force_use_movevel not set, using moveStep");
UseMoveVel = false;
}
pc_params_->SetUseMoveVel(UseMoveVel);
/// Resize and assign of values to the ModulIDs
ModulIDs.resize(ModulIDsXmlRpc.size());
for (int i = 0; i < ModulIDsXmlRpc.size(); i++)
{
ModulIDs[i] = (int)ModulIDsXmlRpc[i];
}
/// Initialize parameters
pc_params_->Init(CanModule, CanDevice, CanBaudrate, ModulIDs);
/// Get joint names
XmlRpc::XmlRpcValue JointNamesXmlRpc;
std::vector<std::string> JointNames;
if (n_.hasParam("joint_names"))
{
n_.getParam("joint_names", JointNamesXmlRpc);
}
else
{
ROS_ERROR("Parameter joint_names not set, shutting down node...");
n_.shutdown();
}
/// Resize and assign of values to the JointNames
JointNames.resize(JointNamesXmlRpc.size());
for (int i = 0; i < JointNamesXmlRpc.size(); i++)
{
JointNames[i] = (std::string)JointNamesXmlRpc[i];
}
/// Check dimension with with DOF
if ((int)JointNames.size() != pc_params_->GetDOF())
{
ROS_ERROR("Wrong dimensions of parameter joint_names, shutting down node...");
n_.shutdown();
}
pc_params_->SetJointNames(JointNames);
/// Get max accelerations
XmlRpc::XmlRpcValue MaxAccelerationsXmlRpc;
std::vector<double> MaxAccelerations;
if (n_.hasParam("max_accelerations"))
{
n_.getParam("max_accelerations", MaxAccelerationsXmlRpc);
}
else
{
ROS_ERROR("Parameter max_accelerations not set, shutting down node...");
n_.shutdown();
}
/// Resize and assign of values to the MaxAccelerations
MaxAccelerations.resize(MaxAccelerationsXmlRpc.size());
for (int i = 0; i < MaxAccelerationsXmlRpc.size(); i++)
{
MaxAccelerations[i] = (double)MaxAccelerationsXmlRpc[i];
}
/// Check dimension with with DOF
if ((int)MaxAccelerations.size() != pc_params_->GetDOF())
{
ROS_ERROR("Wrong dimensions of parameter max_accelerations, shutting down node...");
n_.shutdown();
}
pc_params_->SetMaxAcc(MaxAccelerations);
/// Get horizon
double Horizon;
if (n_.hasParam("horizon"))
{
n_.getParam("horizon", Horizon);
}
else
{
/// Horizon in sec
Horizon = 0.05;
ROS_WARN("Parameter horizon not available, setting to default value: %f sec", Horizon);
}
pc_ctrl_->setHorizon(Horizon);
}
/*!
* \brief Gets parameters from the ROS parameter server and configures the powercube_chain.
*/
void getROSParameters()
{
// get CanModule
std::string CanModule;
if (n_.hasParam("can_module"))
{
n_.getParam("can_module", CanModule);
}
else
{
ROS_ERROR("Parameter can_module not set, shutting down node...");
n_.shutdown();
}
// get CanDevice
std::string CanDevice;
if (n_.hasParam("can_device"))
{
n_.getParam("can_device", CanDevice);
}
else
{
ROS_ERROR("Parameter can_device not set, shutting down node...");
n_.shutdown();
}
// get CanBaudrate
int CanBaudrate;
if (n_.hasParam("can_baudrate"))
{
n_.getParam("can_baudrate", CanBaudrate);
}
else
{
ROS_ERROR("Parameter can_baudrate not set, shutting down node...");
n_.shutdown();
}
// get modul ids
XmlRpc::XmlRpcValue ModulIDsXmlRpc;
std::vector<int> ModulIDs;
if (n_.hasParam("modul_ids"))
{
n_.getParam("modul_ids", ModulIDsXmlRpc);
}
else
{
ROS_ERROR("Parameter modul_ids not set, shutting down node...");
n_.shutdown();
}
ModulIDs.resize(ModulIDsXmlRpc.size());
for (int i = 0; i < ModulIDsXmlRpc.size(); i++)
{
ModulIDs[i] = (int)ModulIDsXmlRpc[i];
}
// init parameters
pc_params_->Init(CanModule, CanDevice, CanBaudrate, ModulIDs);
// get joint names
XmlRpc::XmlRpcValue JointNamesXmlRpc;
std::vector<std::string> JointNames;
if (n_.hasParam("joint_names"))
{
n_.getParam("joint_names", JointNamesXmlRpc);
}
else
{
ROS_ERROR("Parameter joint_names not set, shutting down node...");
n_.shutdown();
}
JointNames.resize(JointNamesXmlRpc.size());
for (int i = 0; i < JointNamesXmlRpc.size(); i++)
{
JointNames[i] = (std::string)JointNamesXmlRpc[i];
}
// check dimension with with DOF
if ((int)JointNames.size() != pc_params_->GetDOF())
{
ROS_ERROR("Wrong dimensions of parameter joint_names, shutting down node...");
n_.shutdown();
}
pc_params_->SetJointNames(JointNames);
// get max accelerations
XmlRpc::XmlRpcValue MaxAccelerationsXmlRpc;
std::vector<double> MaxAccelerations;
if (n_.hasParam("max_accelerations"))
{
n_.getParam("max_accelerations", MaxAccelerationsXmlRpc);
}
else
{
ROS_ERROR("Parameter max_accelerations not set, shutting down node...");
n_.shutdown();
}
MaxAccelerations.resize(MaxAccelerationsXmlRpc.size());
for (int i = 0; i < MaxAccelerationsXmlRpc.size(); i++)
{
MaxAccelerations[i] = (double)MaxAccelerationsXmlRpc[i];
}
// check dimension with with DOF
if ((int)MaxAccelerations.size() != pc_params_->GetDOF())
{
ROS_ERROR("Wrong dimensions of parameter max_accelerations, shutting down node...");
n_.shutdown();
}
pc_params_->SetMaxAcc(MaxAccelerations);
// get horizon
double Horizon;
if (n_.hasParam("horizon"))
{
n_.getParam("horizon", Horizon);
}
else
{
Horizon = 0.025; //Hz
ROS_WARN("Parameter horizon not available, setting to default value: %f sec", Horizon);
}
pc_ctrl_->setHorizon(Horizon);
}