bool RobotModel::setJointState(std::string jointName, double jointVal)
{
// Checks if the joint is a mimic joint, then ignore the call
if( mimic_joints_.find( jointName ) != mimic_joints_.end() ) {
std::cerr << "Cannot set joint state for a mimic joint ( " <<
jointName << " ) directly, ignoring value" << std::endl;
return true;
}
// Loops through all the mimic joints to check it the joint needs to be mimiced
for( std::map< std::string, MimicJoint >::const_iterator it = mimic_joints_.begin();
it != mimic_joints_.end(); ++it ) {
if( it->second.jointToMimic == jointName ) {
if( !setJointPos( it->first, ( jointVal * it->second.multiplier ) + it->second.offset ) ) {
return false;
}
}
}
// Sets the original joint
return setJointPos( jointName, jointVal );
}
bool Kuka_grav_as::execute_CB(alib_server& as_,alib_feedback& feedback_,const cptrGoal& goal){
if (action_name == (goal->action_name))
{
ROS_INFO("Kuka_grav_as::execute_CB");
ROS_INFO("action_name : [%s]",goal->action_name.c_str());
ROS_INFO("action_type : [%s]",goal->action_type.c_str());
ROS_INFO("desired_stifness: [%f,%f,%f,%f,%f,%f,%f]", goal->JointStateImpedance.stiffness[0],
goal->JointStateImpedance.stiffness[1],goal->JointStateImpedance.stiffness[2],
goal->JointStateImpedance.stiffness[3],goal->JointStateImpedance.stiffness[4],
goal->JointStateImpedance.stiffness[5],goal->JointStateImpedance.stiffness[6]);
/*if (bBaseRun){
std::cout<< "bRun: TRUE " << std::endl;
}else{
std::cout<< "bRun: FALSE " << std::endl;
}*/
set_control_type(asrv::GRAV_COMP);
///--- Desired Joint Impedance Command--///
des_j_pose.resize(7);
des_j_velocity.resize(7);
des_j_stiffness.resize(7);
for(std::size_t i = 0; i < 7;++i){
if (action_type == "position")
des_j_pose(i) = goal->JointStateImpedance.position[i];
else
des_j_velocity(i) = goal->JointStateImpedance.velocity[i];
des_j_stiffness(i) = goal->JointStateImpedance.stiffness[i];
}
///--- Action Type (Control interface: Velocity or Position) ---///
action_type = goal->action_type;
///--- Desired Loop Rate Command--///
ros::Duration loop_rate(goal->dt);
bool bBaseRun = true;
while(ros::ok()&& bBaseRun) {
//--- Update Cartesian Pose for (cart_to_joint) everytime you go into interactive grav_comp
//--- Send /cart_to_joint/des_ee_pos as the current ee_pose
tf::TransformListener listener;
tf::StampedTransform curr_ee_tf_;
try{
listener.waitForTransform("/world_frame", "/curr_ee_tf", ros::Time(0), ros::Duration(10.0) );
listener.lookupTransform("/world_frame", "/curr_ee_tf", ros::Time(0), curr_ee_tf_);
} catch (tf::TransformException ex) {
ROS_ERROR("%s",ex.what());
}
ROS_INFO_STREAM("Curr_ee_tf x:" <<curr_ee_tf_.getOrigin().x() << " y:" << curr_ee_tf_.getOrigin().y() << " z:" << curr_ee_tf_.getOrigin().z() );
des_ee_pose_from_curr.setOrigin(curr_ee_tf_.getOrigin());
des_ee_pose_from_curr.setRotation(curr_ee_tf_.getRotation());
sendPose(des_ee_pose_from_curr);
///--- Send Joint Impedance Command to KUKA FRI Bridge ---///
if (action_type == "position")
setJointPos(des_j_pose);
else{
// Send Velocity command ( will be 0 for grav comp)
setJointVel(des_j_velocity);
}
sendJointImpedance(des_j_stiffness);
///--- Stop sending when the desired stiffness is reached ---///
Eigen::VectorXd stiff_diff = j_stiffness - des_j_stiffness;
double stiff_err = abs(stiff_diff.sum());
ROS_INFO_STREAM("Current error to desired stiffness: " << stiff_err);
if(stiff_err < 0.5){
ROS_INFO_STREAM('Desired Stiffness REACHED, you can manipulate the robot now...');
///-- Publish joint action message (for cart_to_joint) --//
//std_msgs::Bool j_action_msg;
// j_action_msg.data = false;
// pub_ja.publish(j_action_msg);
bBaseRun=false;
}
if (as_.isPreemptRequested() || !ros::ok())
{
ROS_INFO("Preempted");
as_.setPreempted();
// bBaseRun = false;
bBaseRun=false;
}
loop_rate.sleep();
}
return true;
/* if(!bBaseRun){
return false;
}else{
return true;
}*/
}else{
std::string msg;
msg = "Kuka_goto_cart_as::execute_CB: wrong action call, requested: " + goal->action_name + " actual: " + action_name;
ROS_ERROR("[%s]",msg.c_str());
return false;
}
}