int main(int argc, char** argv)
{
ros::init(argc, argv, "parser_test");
ros::NodeHandle nh;
try
{
std::string name = "red_arm";
RobotPtr robot = std::make_shared<Robot>(name);
ParserPtr parser = std::make_shared<Parser>();
std::string path = "/home/daichi/Work/catkin_ws/src/ahl_ros_pkg/ahl_robot/ahl_robot/yaml/red_arm.yaml";
parser->load(path, robot);
ros::MultiThreadedSpinner spinner;
TfPublisherPtr tf_publisher = std::make_shared<TfPublisher>();
const std::string mnp_name = "mnp";
unsigned long cnt = 0;
ros::Rate r(10.0);
while(ros::ok())
{
Eigen::VectorXd q = Eigen::VectorXd::Zero(robot->getDOF(mnp_name));
ManipulatorPtr mnp = robot->getManipulator(mnp_name);
double goal = sin(2.0 * M_PI * 0.2 * cnt * 0.1);
++cnt;
for(uint32_t i = 0; i < q.rows(); ++i)
{
q.coeffRef(6) = M_PI / 4.0 * goal;
}
std::cout << M_PI / 4.0 * goal << std::endl;
//q = Eigen::VectorXd::Constant(q.rows(), 0.0 * M_PI / 4.0);
robot->update(q);
robot->computeJacobian(mnp_name);
robot->computeMassMatrix(mnp_name);
M = robot->getMassMatrix(mnp_name);
J = robot->getJacobian(mnp_name, "gripper");
calc();
tf_publisher->publish(robot, false);
r.sleep();
}
}
catch(ahl_utils::Exception& e)
{
ROS_ERROR_STREAM(e.what());
}
return 0;
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "parser_test");
ros::NodeHandle nh;
try
{
std::string name = "personal_robot";
RobotPtr robot = RobotPtr(new Robot(name));
ParserPtr parser = ParserPtr(new Parser());
std::string path = "/home/daichi/Work/catkin_ws/src/ahl_ros_pkg/ahl_robot/ahl_robot/yaml/pr2.yaml";
parser->load(path, robot);
ros::MultiThreadedSpinner spinner;
TfPublisherPtr tf_publisher = TfPublisherPtr(new TfPublisher());
const std::string mnp_name1 = "left_mnp";
const std::string mnp_name2 = "right_mnp";
unsigned long cnt = 0;
ros::Rate r(10.0);
while(ros::ok())
{
Eigen::VectorXd q = Eigen::VectorXd::Zero(robot->getDOF());
ManipulatorPtr left_mnp = robot->getManipulator(mnp_name1);
double goal = sin(2.0 * M_PI * 0.2 * cnt * 0.1);
++cnt;
//std::cout << M_PI / 4.0 * goal << std::endl;
q = Eigen::VectorXd::Constant(q.rows(), 0.0);
q[10] = goal;
robot->update(q);
//robot->update(mnp_name2, q);
robot->computeJacobian(mnp_name1);
robot->computeJacobian(mnp_name2);
robot->computeMassMatrix(mnp_name1);
robot->computeMassMatrix(mnp_name2);
M1 = robot->getMassMatrix(mnp_name1);
M2 = robot->getMassMatrix(mnp_name2);
J1 = robot->getJacobian(mnp_name1, "gripper_l_link");
J2 = robot->getJacobian(mnp_name2, "gripper_r_link");
calc();
tf_publisher->publish(robot, false);
r.sleep();
}
}
catch(ahl_utils::Exception& e)
{
ROS_ERROR_STREAM(e.what());
}
return 0;
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "parser_test");
ros::NodeHandle nh;
try
{
std::string name = "youbot";
RobotPtr robot = RobotPtr(new Robot(name));
ParserPtr parser = ParserPtr(new Parser());
std::string path = "/home/daichi/Work/catkin_ws/src/ahl_ros_pkg/ahl_robot/ahl_robot/yaml/youbot.yaml";
parser->load(path, robot);
robot->getMobility()->print();
ros::MultiThreadedSpinner spinner;
TfPublisherPtr tf_publisher = TfPublisherPtr(new TfPublisher());
const std::string mnp_name = "mnp";
unsigned long cnt = 0;
const double period = 0.001;
ros::Rate r(1 / period);
ahl_filter::DifferentiatorPtr differentiator = ahl_filter::DifferentiatorPtr(new ahl_filter::PseudoDifferentiator(period, 1.0));
Eigen::VectorXd q = Eigen::VectorXd::Constant(robot->getDOF(mnp_name), 0.0);
Eigen::VectorXd dq = Eigen::VectorXd::Constant(robot->getDOF(mnp_name), 0.0);
differentiator->init(q, dq);
Eigen::VectorXd pre_q = q;
//std::ofstream ofs1;
//ofs1.open("result1.hpp");
//std::ofstream ofs2;
//ofs2.open("result2.hpp");
//std::ofstream ofs3;
//ofs3.open("result3.hpp");
while(ros::ok())
{
q = Eigen::VectorXd::Constant(robot->getDOF(mnp_name), 1.0);
double coeff = 1.0 * sin(2.0 * M_PI * 0.1 * cnt * period);
++cnt;
q = coeff * q;
//q = Eigen::VectorXd::Constant(robot->getDOF(mnp_name), M_PI / 2.0);
q.coeffRef(0) = 0.0;
q.coeffRef(1) = 0.0;
q.coeffRef(2) = 0.0;
robot->update(mnp_name, q);
robot->computeBasicJacobian(mnp_name);
robot->computeMassMatrix(mnp_name);
differentiator->apply(q);
Eigen::VectorXd dq1 = robot->getJointVelocity(mnp_name);
Eigen::VectorXd dq2;
differentiator->copyDerivativeValueTo(dq2);
std::cout << "p : " << q.transpose() << std::endl;
std::cout << "pre_p : " << pre_q.transpose() << std::endl;
Eigen::VectorXd dq3 = (q - pre_q) / period;
pre_q = q;
//std::cout << "dq1 : " << dq1.block(3, 0, dq.rows() - 3, 1).transpose() << std::endl;
//std::cout << "dq2 : " << dq2.block(3, 0, dq.rows() - 3, 1).transpose() << std::endl;
//std::cout << "dq3 : " << dq3.block(3, 0, dq.rows() - 3, 1).transpose() << std::endl;
//std::cout << dq << std::endl << std::endl;
//std::cout << cos(2.0 * M_PI * 0.1 * cnt * 0.1) << std::endl;
tf_publisher->publish(robot, false);
/*
ofs1 << cnt * period << " ";
ofs2 << cnt * period << " ";
ofs3 << cnt * period << " ";
for(unsigned int i = 0; i < dq.rows() - 3; ++i)
{
ofs1 << dq1[i + 3] << " ";
ofs2 << dq2[i + 3] << " ";
ofs3 << dq3[i + 3] << " ";
}
ofs1 << std::endl;
ofs2 << std::endl;
ofs3 << std::endl;
*/
r.sleep();
}
}
catch(ahl_robot::Exception& e)
{
ROS_ERROR_STREAM(e.what());
}
return 0;
}
void control(const ros::TimerEvent&)
{
try
{
boost::mutex::scoped_lock lock(mutex);
if(gazebo_interface->subscribed())
{
Eigen::VectorXd q = gazebo_interface->getJointStates();
robot->update("mnp", q);
joint_updated = true;
}
if(updated)
{
static long cnt = 0;
if(initialized == false)
{
Eigen::VectorXd qd = Eigen::VectorXd::Constant(robot->getDOF("mnp"), M_PI / 4.0);
double sin_val = 1.0;//std::abs(sin(2.0 * M_PI * 0.1 * cnt * 0.001));
qd = sin_val * qd;
joint_control->setGoal(qd);
static int reached = 0;
if(robot->reached("mnp", qd, 0.03))
{
++reached;
if(reached > 500)
{
initialized = true;
controller->clearTask();
controller->addTask(damping, 0);
controller->addTask(gravity_compensation, 100);
controller->addTask(position_control, 10);
controller->addTask(orientation_control, 5);
controller->addTask(joint_limit, 100);
Eigen::Vector3d xd;
xd << 0.35, 0.4, 0.75;
position_control->setGoal(xd);
Eigen::Matrix3d R = Eigen::Matrix3d::Identity();
double rad = 0.0;
R << cos(rad), 0, sin(rad),
0, 1, 0,
-sin(rad), 0, cos(rad);
orientation_control->setGoal(R);
}
}
else
{
reached = 0;
}
}
else
{
Eigen::Vector3d xd;
xd << 0.35, 0.4, 0.75;
//xd.coeffRef(0) += 0.1 * sin(2.0 * M_PI * 0.2 * cnt * 0.001);
//xd.coeffRef(1) += 0.1 * sin(2.0 * M_PI * 0.2 * cnt * 0.001);
//xd.coeffRef(2) += 0.1 * sin(2.0 * M_PI * 0.2 * cnt * 0.001);
position_control->setGoal(xd);
Eigen::Matrix3d R = Eigen::Matrix3d::Identity();
double rad = M_PI / 3.0 * sin(2.0 * M_PI * 0.2 * cnt * 0.001);
R << cos(rad), 0, sin(rad),
0, 1, 0,
-sin(rad), 0, cos(rad);
orientation_control->setGoal(R);
}
++cnt;
Eigen::VectorXd tau(robot->getDOF("mnp"));
controller->computeGeneralizedForce(tau);
gazebo_interface->applyJointEfforts(tau);
}
}
catch(ahl_ctrl::Exception& e)
{
ROS_ERROR_STREAM(e.what());
}
catch(ahl_gazebo_if::Exception& e)
{
ROS_ERROR_STREAM(e.what());
}
}