TestKeyframeExtraction(ros::NodeHandle & nh) :
action_client("/cloudbot1/turtlebot_move", true), map(
new keyframe_map) {
pointcloud_pub = nh.advertise<pcl::PointCloud<pcl::PointXYZRGB> >(
"/cloudbot1/pointcloud", 1);
servo_pub = nh.advertise<std_msgs::Float32>(
"/cloudbot1/mobile_base/commands/servo_angle", 3);
keyframe_sub = nh.subscribe("/cloudbot1/keyframe", 10,
&TestKeyframeExtraction::chatterCallback, this);
update_map_service = nh.serviceClient<rm_localization::UpdateMap>(
"/cloudbot1/update_map");
clear_keyframes_service = nh.serviceClient<std_srvs::Empty>(
"/cloudbot1/clear_keyframes");
set_camera_info_service = nh.serviceClient<sensor_msgs::SetCameraInfo>(
"/cloudbot1/rgb/set_camera_info");
std_srvs::Empty emp;
clear_keyframes_service.call(emp);
}
void anyBrickCallback(std_msgs::Bool msg)
{
// Fetch robot position
kuka_rsi::getConfiguration getQObj;
// Call service
if(!_serviceGetConf.call(getQObj))
printConsole("Failed to call the 'serviceKukaGetConfiguration'");
// Get information
bool same = true;
for(int i=0; i<6; i++)
{
if(fabs(getQObj.response.q[i]*DEGREETORAD - _qIdle[i]) > 0.1)
{
same = false;
break;
}
}
_anyBricksMutex.lock();
_anyBricks = msg.data;
_anyBricksMutex.unlock();
_qMutex.lock();
_positionQIdle = same;
_qMutex.unlock();
}
void ubicacionCallback(const vrep_common::ObjectGroupData msgUbicacionPatas)
{
for(int k=1; k<Npatas+1; k++){
ubicacionRobot.coordenadaPata_x[k-1]=msgUbicacionPatas.floatData.data[0+k*Npatas/2];
ubicacionRobot.coordenadaPata_y[k-1]=msgUbicacionPatas.floatData.data[1+k*Npatas/2];
ubicacionRobot.coordenadaPata_z[k-1]=msgUbicacionPatas.floatData.data[2+k*Npatas/2];
//-- Transformacion de trayectoria a Sistema de Pata
srv_Trans_MundoPata.request.modo=Mundo_Pata;
srv_Trans_MundoPata.request.Npata=k-1;
srv_Trans_MundoPata.request.x_S0=ubicacionRobot.coordenadaPata_x[k-1];
srv_Trans_MundoPata.request.y_S0=ubicacionRobot.coordenadaPata_y[k-1];
srv_Trans_MundoPata.request.z_S0=ubicacionRobot.coordenadaPata_z[k-1];
srv_Trans_MundoPata.request.x_UbicacionRob=ubicacionRobot.coordenadaCuerpo_x;
srv_Trans_MundoPata.request.y_UbicacionRob=ubicacionRobot.coordenadaCuerpo_y;
srv_Trans_MundoPata.request.theta_Rob=ubicacionRobot.orientacionCuerpo_yaw;
if (client_Trans_MundoPata.call(srv_Trans_MundoPata))
{ ubicacionRobot.coordenadaPataSistemaPata_x[k-1] = srv_Trans_MundoPata.response.x_Pata;
ubicacionRobot.coordenadaPataSistemaPata_y[k-1] = srv_Trans_MundoPata.response.y_Pata;
ubicacionRobot.coordenadaPataSistemaPata_z[k-1] = srv_Trans_MundoPata.response.z_Pata;
// ROS_INFO("Servicio motores: q1=%.3f; q2=%.3f; q3=%.3f\n", _q1, _q2, _q3);
} else {
ROS_ERROR("Nodo6:[%d] servicio de Trans_MundoPata no funciona\n",k-1);
// return;
}
// ROS_INFO("Nodo6: pata[%d], x=%.3f, y=%.3f",k-1,ubicacionRobot.coordenadaPata_x[k-1],ubicacionRobot.coordenadaPata_y[k-1]);
}
infoPatas = true;
}
void startConveyerBelt(bool dir = false)
{
rc_plc::StartConv obj;
obj.request.direction = dir;
if(!_serviceStart.call(obj))
printConsole("Failed to call the 'serviceStartConveyer'");
}
bool plotSummary(ros::ServiceClient& sum_client)
{
PlanningSummary planning_sum;
if (!sum_client.call(planning_sum))
{
return false;
}
unsigned int cols = planning_sum.response.score_labels.size();
for (unsigned int i = 0; i < planning_sum.response.score_labels.size(); i++)
{
cout << planning_sum.response.score_labels[i] << "\t";
}
cout << endl;
for (unsigned int i = 0; i < planning_sum.response.score_values.size(); i++)
{
if (i % cols == 0)
{
cout << i / cols << ": ";
}
cout << planning_sum.response.score_values[i];
cout << "\t";
if (i % cols == cols - 1)
{
cout << endl;
}
}
return true;
}
/**
* @brief Callback functions for datalink routing, channel 1
*
*/
void sub1_callback(const uav_control::DFrame msg)
{
// message from GCS, to be relayed to quadcopter
if(msg.target_id != SYSID){
uav_control::datalink_send ss;
ss.request.source_id = msg.source_id;
ss.request.target_id = msg.target_id;
ss.request.route = msg.route;
ss.request.len = msg.len;
int i;
for(i=0; i<msg.len; i++)
ss.request.payload[i] = msg.payload[i];
if(client_sub1.call(ss)){
switch(ss.response.err){
case 0: //ROS_INFO("successful");
break;
case 1: ROS_ERROR("relay error: invalid channel");
break;
case 2: ROS_ERROR("relay error: channel not initialized");
break;
case 3: ROS_ERROR("relay error: sending failed");
break;
default: ROS_ERROR("relay error: unknown failure");
break;
}
}
}
}
/**
* @brief Report to GCS arming / disarming state of the uav
*/
void state_callback(const mavros_msgs::State msg){
uav_control::datalink_send ss;
ss.request.source_id = sysid;
ss.request.target_id = 0x00;
ss.request.route = 2;
ss.request.len = 4 + msg.mode.length() + 1;
ss.request.payload[0] = 29;
ss.request.payload[1] = msg.connected ? 'T' : 'F';
ss.request.payload[2] = msg.armed ? 'T' : 'F';
ss.request.payload[3] = msg.guided ? 'T' : 'F';
sprintf((char*)&(ss.request.payload[4]), "%s", msg.mode.c_str());
if(client.call(ss)){
switch(ss.response.err){
case 0:
break;
case 1: ROS_ERROR("uav_stat_monitor sending failed: invalid channel");
break;
case 2: ROS_ERROR("uav_stat_monitor sending failed: channel not initialized");
break;
case 3: ROS_ERROR("uav_stat_monitor sending failed: sending failed");
break;
default: ROS_ERROR("uav_stat_monitor sending failed: unknown failure");
break;
}
}
}
bool CutterSteering::getFirstWayPoint()
{
if (got_waypoint_)
return true;
waypoint_srv_.request.increment = false;
if(waypoint_client_.call(waypoint_srv_))
{
if (waypoint_srv_.response.pointsLeft > 0)
{
got_waypoint_ = true;
ROS_INFO("Got first waypoint");
initialX = map_pose_.position.x;
initialY = map_pose_.position.y;
ROS_INFO("Recorded initial position.");
last_waypoint_ = cutter_msgs::WayPoint();
target_waypoint_ = waypoint_srv_.response.currWayPoint;
next_waypoint_ = waypoint_srv_.response.nextWayPoint;
initial_align = true;
return true;
}
}
return false;
}
bool singleShotService(blort_ros::EstimatePose::Request &req,
blort_ros::EstimatePose::Response &resp)
{
if(lastImage.use_count() < 1 && lastCameraInfo.use_count() < 1)
{
ROS_ERROR("Service called but there was no data on the input topics!");
return false;
} else {
ROS_INFO("Singleshot service has been called with a timeout of %f seconds.", time_to_run_singleshot);
results.clear();
if(parent_->tracker == 0)
{
parent_->tracker = new blort_ros::GLTracker(*lastCameraInfo, parent_->root_, true);
parent_->recovery_client = parent_->nh_.serviceClient<blort_ros::RecoveryCall>("/blort_detector/poseService");
} else {
parent_->tracker->reset();
}
parent_->tracker->setPublisMode(blort_ros::TRACKER_PUBLISH_GOOD);
parent_->tracker->setVisualizeObjPose(true);
blort_ros::SetCameraInfo camera_info;
camera_info.request.CameraInfo = *lastCameraInfo;
if(!detector_set_caminfo_service.call(camera_info))
ROS_ERROR("blort_tracker failed to call blort_detector/set_camera_info service");
double start_secs = ros::Time::now().toSec();
while(ros::Time::now().toSec()-start_secs < time_to_run_singleshot)
{
ROS_INFO("Remaining time %f", time_to_run_singleshot+start_secs-ros::Time::now().toSec());
parent_->imageCb(lastImage);
if(parent_->tracker->getConfidence() == blort_ros::TRACKER_CONF_GOOD)
{
// instead of returning right away let's store the result
// to see if the tracker can get better
results.push_back(parent_->tracker->getDetections()[0]);
} else if(parent_->tracker->getConfidence() == blort_ros::TRACKER_CONF_LOST)
{
results.clear();
}
}
// we are out of the service call now, the results will be published
inServiceCall = false;
if(!results.empty())
{
//convert results to a tf style transform and multiply them
//to get the camera-to-target transformation
resp.Pose = pal_blort::blortPosesToRosPose(parent_->tracker->getCameraReferencePose(),
results.back());
//NOTE: check the pose in vec3 location + mat3x3 rotation could be added here
// if we have any previous knowledge of the given scene
ROS_INFO_STREAM("PUBLISHED POSE: \n" << resp.Pose.position << "\n" <<
pal_blort::quaternionTo3x3cvMat(resp.Pose.orientation) << "\n");
return true;
} else {
//if the time was not enough to get a good detection, make the whole thing fail
return false;
}
}
}
/*!
* \brief set the position, speed and acceleration for a servo
* \param index servo index
* \param engage whether to energise the servo
* \param position reference position for the servo
* \param speed reference speed for the servo
* \param acceleration reference acceleration for the servo
*/
void set_servo_reference(
int index,
bool engage,
float position,
float speed,
float acceleration)
{
phidgets::servo_reference srv;
srv.request.index = index;
srv.request.engage = engage;
srv.request.position = position;
srv.request.speed = speed;
srv.request.acceleration = acceleration;
srv.response.ack = 0;
if (client_servo_reference.call(srv)) {
if ((int)srv.response.ack == 1) {
ROS_INFO("Changed servo %d reference %.2f",
index, position);
}
else {
ROS_INFO("Returned %d", (int)srv.response.ack);
}
}
else {
ROS_ERROR("Failed to call service servo_reference");
}
}
/* Publishes an empty scene to reset/refresh it */
void resetOctomap(){
cout << "Clearing Octomap !" << endl;
moveit_msgs::PlanningScene planning_scene;
moveit_msgs::GetPlanningScene scene_srv;
scene_srv.request.components.components = scene_srv.request.components.ALLOWED_COLLISION_MATRIX +
scene_srv.request.components.LINK_PADDING_AND_SCALING +
scene_srv.request.components.OBJECT_COLORS +
scene_srv.request.components.OCTOMAP +
scene_srv.request.components.ROBOT_STATE +
scene_srv.request.components.ROBOT_STATE_ATTACHED_OBJECTS +
scene_srv.request.components.SCENE_SETTINGS +
scene_srv.request.components.TRANSFORMS +
scene_srv.request.components.WORLD_OBJECT_GEOMETRY +
scene_srv.request.components.WORLD_OBJECT_NAMES;
if(client_get_scene_.call(scene_srv)){
moveit_msgs::PlanningScene planning_scene = scene_srv.response.scene;
planning_scene.world.octomap.octomap.data.clear();
ros::WallDuration sleep_time(0.5);
//planning_scene.is_diff = true;
planning_scene_publisher.publish(planning_scene);
sleep_time.sleep();
}
}
void changeDirConveyerBelt(bool dir) // true = reverse
{
rc_plc::ChangeDirection obj;
obj.request.direction = dir;
if(!_serviceChangeDir.call(obj))
printConsole("Failed to call the 'serviceChangeDirConveyer'");
}
/*
Function to pick up an object named <object_name>
*/
void pick(std::string object_name)
{
world_model_srv.request.base_frame = "gripperbot_base";
world_model_srv.request.target_frame = object_name;
if(world_model_client.call(world_model_srv))
{
if(world_model_srv.response.success)
{
if(world_model_srv.response.pose.position.x < 0)
return;
if(world_model_srv.response.pose.position.z < 0)
world_model_srv.response.pose.position.z = -world_model_srv.response.pose.position.z;
movegripperbot(world_model_srv.response.pose.position.x, world_model_srv.response.pose.position.y, world_model_srv.response.pose.position.z+0.1);
opengripper();
movegripperbot(world_model_srv.response.pose.position.x, world_model_srv.response.pose.position.y, world_model_srv.response.pose.position.z);
closegripper();
movegripperbot(world_model_srv.response.pose.position.x, world_model_srv.response.pose.position.y, world_model_srv.response.pose.position.z+0.1);
}
else
{
ROS_ERROR("Transform between object and gripperbot_base doesnt exist");
}
}
else
{
ROS_ERROR("Failed to call service /world_model/get_transform");
}
}
std::vector<Brick> getBricks()
{
std::vector<Brick> retVec;
rc_vision::getBricks obj;
if(!_serviceGetBricks.call(obj))
{
printConsole("Failed to call the 'serviceGetBricks'");
}
else
{
for(unsigned int i=0; i<obj.response.size.size(); i++)
{
Brick brick;
brick.color = obj.response.color[i];
brick.posX = obj.response.posX[i];
brick.posY = obj.response.posY[i];
brick.size = obj.response.size[i];
brick.theta = obj.response.theta[i];
retVec.push_back(brick);
}
}
return retVec;
}
rvMCUReport getReport()
{
rvMCUReport rv;
if (reportClient.call(reportSrv))
{
rv.length = reportSrv.response.length;
rv.lDirection = reportSrv.response.lDirection;
rv.lNum = reportSrv.response.lNum;
rv.rDirection = reportSrv.response.rDirection;
rv.rNum = reportSrv.response.rNum;
rv.rearDirection = reportSrv.response.rearDirection;
rv.rearNum = reportSrv.response.rearNum;
rv.headPosition = reportSrv.response.headPosition;
rv.isLedOn = reportSrv.response.isLedOn;
rv.isIrOn = reportSrv.response.isIrOn;
rv.isDetectedBarrier = reportSrv.response.isDetectedBarrier;
ROS_INFO("MCU Report:\nlength=%d", rv.length);
ROS_INFO("Left direction:num=%d:%d", rv.lDirection, rv.lNum);
ROS_INFO("Right direction:num=%d:%d", rv.rDirection, rv.rNum);
ROS_INFO("Rear direction:num=%d:%d", rv.rearDirection, rv.rearNum);
ROS_INFO("headPosition=%d", rv.headPosition);
ROS_INFO("isLedOn=%d,isIrOn=%d,isDetectedBarrier=%d", rv.isLedOn, rv.isIrOn, rv.isDetectedBarrier);
}
else
{
ROS_ERROR("Failed to call service rovioReport");
}
return rv;
}
/*
createSimulatePlaneCallback
This is the callback used to handle any users wishing to create a new plane. This could be used for setting
up a course as well.
*/
bool createSimulatedPlaneCallback(AU_UAV_ROS::CreateSimulatedPlane::Request &req, AU_UAV_ROS::CreateSimulatedPlane::Response &res)
{
//create a service to get a plane ID to use
AU_UAV_ROS::RequestPlaneID srv;
srv.request.requestedID = req.requestedID;
//check to make sure the client call worked (regardless of return values from service)
if(requestPlaneIDClient.call(srv))
{
res.planeID = srv.response.planeID;
if(srv.response.planeID == -1)
{
ROS_ERROR("Couldn't create plane with ID %d", req.requestedID);
return false;
}
//create and add our plane to the list of simulated planes
//AU_UAV_ROS::SimulatedPlane newPlane(srv.response.planeID, req);
simPlaneMap[srv.response.planeID] = AU_UAV_ROS::SimulatedPlane(srv.response.planeID, req);
//plane created successfully
return true;
}
else
{
//if this happens, chances are the coordinator isn't running
ROS_ERROR("Did not receive an ID from coordinator");
return false;
}
}
bool callService::callTheService()
{
if(client_.call(srv_)){
double x,y,z,qx,qy,qz,qw;
x = srv_.response.final_pose.position.x;
y = srv_.response.final_pose.position.y;
z = srv_.response.final_pose.position.z;
qx = srv_.response.final_pose.orientation.x;
qy = srv_.response.final_pose.orientation.y;
qz = srv_.response.final_pose.orientation.z;
qw = srv_.response.final_pose.orientation.w;
ROS_INFO("Pose: tx= %5.4lf %5.4lf %5.4lf quat= %5.3lf %5.3lf %5.3lf %5.3lf, cost= %5.3lf",
srv_.response.final_pose.position.x,
srv_.response.final_pose.position.y,
srv_.response.final_pose.position.z,
srv_.response.final_pose.orientation.x,
srv_.response.final_pose.orientation.y,
srv_.response.final_pose.orientation.z,
srv_.response.final_pose.orientation.w,
srv_.response.final_cost_per_observation);
tf::Transform camera_to_target;
tf::Quaternion quat(qx,qy,qz,qw);
camera_to_target.setOrigin(tf::Vector3(x,y,z));
camera_to_target.setRotation(quat);
tf::StampedTransform stf(camera_to_target, ros::Time::now(), optical_frame_.c_str(), "target_frame");
tf_broadcaster_.sendTransform(stf);
return(true);
}
ROS_ERROR("Target Location Failure");
return(false);
}
bool sendAndMonitorTask()
{
ArmRequest req;
ArmResponse res;
uint32_t srv_call_counter = 0;
bool succeeded = false;
std::vector<TaskDetails> recovery_tasks;
req.tasks_codes = tasks_codes_;
while((srv_call_counter++ < attempts_) && !succeeded)
{
ROS_INFO_STREAM(ros::this_node::getName()<<": Task '"<<name_<<"' attempt "<<srv_call_counter);
succeeded = arm_client_.call(req,res) && (bool)res.completed;
ROS_INFO_STREAM(ros::this_node::getName()<<": Task '"<<name_<<"' state "
<<(succeeded ?" succeeded":" failed"));
}
error_code_ = res.error_code;
// on failure execute recovery task serially
if(!succeeded && getRecoveryTasks(recovery_tasks))
{
std::vector<TaskDetails>::iterator i;
for(i = recovery_tasks.begin(); i != recovery_tasks.end(); i++)
{
if(!i->sendAndMonitorTask() )
{
// checking termination error, and exiting
recovery_task_termination_error_ = i->terminationErrorReceived();
break;
}
}
}
completed_ = succeeded;
return completed_;
}
void heartMonitor(ros::NodeHandle n, ros::ServiceClient client, estop_control::estopSignal srv)
{
time(&now); // get current time; same as: now = time(NULL)
if(heartbeat == true)
{
heartbeat = false;
ROS_INFO("beating");
previousTime = now;
}
if(difftime(now, previousTime) > 1) // 1 second delay
{
ROS_INFO("heart stopped"); //estop
// ros::ServiceClient client = n.serviceClient<estop_control::estopSignal>("estop_control");
// estop_control::estopSignal srv;
srv.request.message = 1;
if (client.call(srv))
{
ROS_INFO("Recieved handshake: %d", (bool)srv.response.handshake);
}
else
{
ROS_ERROR("Failed to call service estop_control");
}
//client.shutdown();
}
}
int main(int argc, char **argv){
ros::init(argc, argv, "run_pose_estimation_for_scene_screenshot");
ros::NodeHandle nodeHandle = ros::NodeHandle("~");
global = nodeHandle.serviceClient<MsgT>("/inSceneDetector/detect");
if (!once){
//get screen shot pose
ROS_INFO("Subscribing to detection service for screen shot pose...");
ros::service::waitForService("/inSceneDetector/detect");
MsgT msgglobal01;
msgglobal01.request.scenario = "detect_screen_shot";
if(global.call(msgglobal01)) {
//printResults(msgglobal01);
pcl::console::print_value("Screenshot detected!\n");
} else pcl::console::print_error("Screenshot not detected!\n");
once = true;
}
ros::spinOnce();
return 0;
}
brio_assembly_vision_new::Container * client_call(){
brio_assembly_vision_new::Is_This_Easier srv;
brio_assembly_vision_new::Container * cont = new brio_assembly_vision_new::Container();
if (client.call(srv)) //call the service
{
int size=srv.response.get_message.date_container.size();
if(size!=0){
//use data
for(int i=0;i<size;i++)
{
(*cont).date_container.push_back(srv.response.get_message.date_container.at(i));
}
ROS_INFO("Receved data. Number of clusters : %d",size);
return cont;
}
//empty resonse
ROS_ERROR("Failed to call OpenCV service , reason : RESPONSE IS EMPTY , retrying");
return NULL;
}
else
{
ROS_ERROR("Failed to call OpenCV service , retrying");
return NULL;
}
}
bool isRobotMoving()
{
kuka_rsi::getIsMoving obj;
if(!_serviceGetIsMoving.call(obj))
printConsole("Failed to call the 'serviceIsRobotMoving'");
return obj.response.isMoving;
}
/**
* Publishes the command to save the current map (from hector), on the server.
*/
void saveMap(){
std_srvs::Empty srv;
if(mapSaveCommandPublisher.call(srv)){
cout << "SUCCESSFUL save response got from server. "<< endl;
} else {
cout << "UNSUCCESSFUL save response got from server. "<< endl;
}
}
void moveCoveyerBelt(double duration, bool dir = false)
{
rc_plc::MoveConv obj;
obj.request.duration = duration;
obj.request.direction = dir;
if(!_serviceMove.call(obj))
printConsole("Failed to call the 'serviceMoveConveyer'");
}
/**
* This tutorial demonstrates simple receipt of messages over the ROS system.
*/
void controlCallback(const sensor_msgs::Joy::ConstPtr& msg)
{
//steer robot while holding dead man switch
if(msg->buttons[4]) {
t.linear.x = 0.9*t.linear.x + 0.1*l_scale_ * msg->axes[1];
t.angular.z = 0.5*t.angular.z + 0.5*a_scale_ * msg->axes[0];
interrupt_broadcasting = false;
pub.publish(t);
} else {
t.linear.x = 0.0;
t.angular.z = 0.0;
if(interrupt_broadcasting == false){
interrupt_broadcasting = true;
pub.publish(t);
}
}
#if WITH_SCITOS
//enable motors after bump and/or freerun
if(msg->buttons[7]) {
enable_srv.request.enable = true;
if (!enable_client.call(enable_srv))
{
ROS_ERROR("Failed to call service /enable_motors");
}
if (!reset_client.call(reset_srv))
{
ROS_ERROR("Failed to call service /reset_motorstop");
}
}
//disable motors to move robot manually
if(msg->buttons[6]) {
enable_srv.request.enable = false;
if (!enable_client.call(enable_srv))
{
ROS_ERROR("Failed to call service /enable_motors");
}
}
//emergency stop
if(msg->axes[2] == -1.0) {
if (!emergency_client.call(emergency_srv))
{
ROS_ERROR("Failed to call service /emergency_stop");
}
}
#endif
}
bool unloadController(const std::string& name)
{
pr2_mechanism_msgs::UnloadController srv_msg;
srv_msg.request.name = name;
if (!unload_srv_.call(srv_msg)) return false;
return srv_msg.response.ok;
}
void Align::move(double distance){
//double seconds = distance / velocity;
//double angular_velocity = velocity / WHEEL_RAD;
double seconds = distance / 0.09;
seconds = seconds - (12*(seconds / 100));
//stop
diffDrive.call(msg_forward);
ros::Duration(seconds).sleep();
// stop
diffDrive.call(msg_stop);
}
void set_control_mode(unsigned int mode, double elevation=M_PI/2) {
hdpc_drive::SetControlMode req;
req.request.request_mode = mode;
req.request.desired_elevation = elevation;
if (!setModeClt.call(req)) {
ROS_ERROR("Set control mode %d failed",mode);
}
}
/*
* Method that, by receiving a string, makes the robot talk that string
*/
void speak_this(string to_speak)
{
srv_talker.request.sentence = "Hello"; ///to_speak
if (client_talker.call(srv_talker)) //srv_talker
ROS_INFO("Talked: %s", to_speak.c_str());
else
ROS_ERROR("Failed to call the service of qbo_talk");
}
//=============================================================
//名前：InitScan
//説明：首振りの初期位置合わせ
//=============================================================
void ThermalScanning::InitScan(void)
{
srv.request.speed = MOTOR_SPEED;
dyna_client.call(srv);
// ダイナミクセルの角度を初期位置に移動する
Dyna_angle = 0.0;
tilt_controller_command_msg.data = Dyna_angle;
}