/*!
* \brief Constructor for PowercubeChainNode class.
*
* \param name Name for the actionlib server.
*/
PowercubeChainNode(std::string name):
as_(n_, name, boost::bind(&PowercubeChainNode::executeCB, this, _1)),
action_name_(name)
{
sem_can_available = false;
can_sem = SEM_FAILED;
isInitialized_ = false;
traj_point_nr_ = 0;
finished_ = false;
#ifndef SIMU
PCube_ = new PowerCubeCtrl();
#else
PCube_ = new simulatedArm();
#endif
PCubeParams_ = new PowerCubeCtrlParams();
// implementation of topics to publish
topicPub_JointState_ = n_.advertise<sensor_msgs::JointState>("/joint_states", 1);
topicPub_ControllerState_ = n_.advertise<pr2_controllers_msgs::JointTrajectoryControllerState>("state", 1);
// implementation of topics to subscribe
topicSub_DirectCommand_ = n_.subscribe("command", 1, &PowercubeChainNode::topicCallback_DirectCommand, this);
// implementation of service servers
srvServer_Init_ = n_.advertiseService("init", &PowercubeChainNode::srvCallback_Init, this);
srvServer_Stop_ = n_.advertiseService("stop", &PowercubeChainNode::srvCallback_Stop, this);
srvServer_Recover_ = n_.advertiseService("recover", &PowercubeChainNode::srvCallback_Recover, this);
srvServer_SetOperationMode_ = n_.advertiseService("set_operation_mode", &PowercubeChainNode::srvCallback_SetOperationMode, this);
// implementation of service clients
//--
// diagnostics
updater_.setHardwareID(ros::this_node::getName());
updater_.add("initialization", this, &PowercubeChainNode::diag_init);
// read parameters from parameter server
n_.getParam("CanModule", CanModule_);
n_.getParam("CanDevice", CanDevice_);
n_.getParam("CanBaudrate", CanBaudrate_);
ROS_INFO("CanModule=%s, CanDevice=%d, CanBaudrate=%d",CanModule_.c_str(),CanDevice_,CanBaudrate_);
// get ModIds from parameter server
if (n_.hasParam("ModIds"))
{
n_.getParam("ModIds", ModIds_param_);
}
else
{
ROS_ERROR("Parameter ModIds not set");
}
ModIds_.resize(ModIds_param_.size());
for (int i = 0; i<ModIds_param_.size(); i++ )
{
ModIds_[i] = (int)ModIds_param_[i];
}
std::cout << "ModIds = " << ModIds_param_ << std::endl;
// get JointNames from parameter server
ROS_INFO("getting JointNames from parameter server");
if (n_.hasParam("JointNames"))
{
n_.getParam("JointNames", JointNames_param_);
}
else
{
ROS_ERROR("Parameter JointNames not set");
}
JointNames_.resize(JointNames_param_.size());
for (int i = 0; i<JointNames_param_.size(); i++ )
{
JointNames_[i] = (std::string)JointNames_param_[i];
}
std::cout << "JointNames = " << JointNames_param_ << std::endl;
PCubeParams_->Init(CanModule_, CanDevice_, CanBaudrate_, ModIds_);
// get MaxAcc from parameter server
ROS_INFO("getting MaxAcc from parameter server");
if (n_.hasParam("MaxAcc"))
{
n_.getParam("MaxAcc", MaxAcc_param_);
}
else
{
ROS_ERROR("Parameter MaxAcc not set");
}
MaxAcc_.resize(MaxAcc_param_.size());
for (int i = 0; i<MaxAcc_param_.size(); i++ )
{
MaxAcc_[i] = (double)MaxAcc_param_[i];
}
PCubeParams_->SetMaxAcc(MaxAcc_);
std::cout << "MaxAcc = " << MaxAcc_param_ << std::endl;
// load parameter server string for robot/model
std::string param_name = "robot_description";
std::string full_param_name;
std::string xml_string;
n_.searchParam(param_name,full_param_name);
n_.getParam(full_param_name.c_str(),xml_string);
ROS_INFO("full_param_name=%s",full_param_name.c_str());
if (xml_string.size()==0)
{
ROS_ERROR("Unable to load robot model from param server robot_description\n");
exit(2);
}
ROS_DEBUG("%s content\n%s", full_param_name.c_str(), xml_string.c_str());
// extract limits and velocities from urdf model
urdf::Model model;
if (!model.initString(xml_string))
{
ROS_ERROR("Failed to parse urdf file");
exit(2);
}
ROS_INFO("Successfully parsed urdf file");
/** @todo: check if yaml parameter file fits to urdf model */
// get MaxVel out of urdf model
std::vector<double> MaxVel;
MaxVel.resize(ModIds_param_.size());
for (int i = 0; i<ModIds_param_.size(); i++ )
{
MaxVel[i] = model.getJoint(JointNames_[i].c_str())->limits->velocity;
//std::cout << "MaxVel[" << JointNames_[i].c_str() << "] = " << MaxVel[i] << std::endl;
}
PCubeParams_->SetMaxVel(MaxVel);
// get LowerLimits out of urdf model
std::vector<double> LowerLimits;
LowerLimits.resize(ModIds_param_.size());
for (int i = 0; i<ModIds_param_.size(); i++ )
{
LowerLimits[i] = model.getJoint(JointNames_[i].c_str())->limits->lower;
std::cout << "LowerLimits[" << JointNames_[i].c_str() << "] = " << LowerLimits[i] << std::endl;
}
PCubeParams_->SetLowerLimits(LowerLimits);
// get UpperLimits out of urdf model
std::vector<double> UpperLimits;
UpperLimits.resize(ModIds_param_.size());
for (int i = 0; i<ModIds_param_.size(); i++ )
{
UpperLimits[i] = model.getJoint(JointNames_[i].c_str())->limits->upper;
std::cout << "UpperLimits[" << JointNames_[i].c_str() << "] = " << UpperLimits[i] << std::endl;
}
PCubeParams_->SetUpperLimits(UpperLimits);
// get UpperLimits out of urdf model
std::vector<double> Offsets;
Offsets.resize(ModIds_param_.size());
for (int i = 0; i<ModIds_param_.size(); i++ )
{
Offsets[i] = model.getJoint(JointNames_[i].c_str())->calibration->rising.get()[0];
std::cout << "Offset[" << JointNames_[i].c_str() << "] = " << Offsets[i] << std::endl;
}
PCubeParams_->SetAngleOffsets(Offsets);
cmd_vel_.resize(ModIds_param_.size());
newvel_ = false;
can_sem = sem_open("/semcan", O_CREAT, S_IRWXU | S_IRWXG,1);
if (can_sem != SEM_FAILED)
sem_can_available = true;
}
/*!
* \brief Gets parameters from the robot_description and configures the powercube_chain.
*/
void getRobotDescriptionParameters()
{
unsigned int DOF = pc_params_->GetDOF();
std::vector<std::string> JointNames = pc_params_->GetJointNames();
/// Get robot_description from ROS parameter server
std::string param_name = "robot_description";
std::string full_param_name;
std::string xml_string;
n_.searchParam(param_name, full_param_name);
if (n_.hasParam(full_param_name))
{
n_.getParam(full_param_name.c_str(), xml_string);
}
else
{
ROS_ERROR("Parameter %s not set, shutting down node...", full_param_name.c_str());
n_.shutdown();
}
if (xml_string.size() == 0)
{
ROS_ERROR("Unable to load robot model from parameter %s",full_param_name.c_str());
n_.shutdown();
}
ROS_DEBUG("%s content\n%s", full_param_name.c_str(), xml_string.c_str());
/// Get urdf model out of robot_description
urdf::Model model;
if (!model.initString(xml_string))
{
ROS_ERROR("Failed to parse urdf file");
n_.shutdown();
}
ROS_DEBUG("Successfully parsed urdf file");
/// Get max velocities out of urdf model
std::vector<double> MaxVelocities(DOF);
for (unsigned int i = 0; i < DOF; i++)
{
MaxVelocities[i] = model.getJoint(JointNames[i].c_str())->limits->velocity;
}
/// Get lower limits out of urdf model
std::vector<double> LowerLimits(DOF);
for (unsigned int i = 0; i < DOF; i++)
{
LowerLimits[i] = model.getJoint(JointNames[i].c_str())->limits->lower;
}
// Get upper limits out of urdf model
std::vector<double> UpperLimits(DOF);
for (unsigned int i = 0; i < DOF; i++)
{
UpperLimits[i] = model.getJoint(JointNames[i].c_str())->limits->upper;
}
/// Get offsets out of urdf model
std::vector<double> Offsets(DOF);
for (unsigned int i = 0; i < DOF; i++)
{
Offsets[i] = model.getJoint(JointNames[i].c_str())->calibration->rising.get()[0];
}
/// Set parameters
pc_params_->SetMaxVel(MaxVelocities);
pc_params_->SetLowerLimits(LowerLimits);
pc_params_->SetUpperLimits(UpperLimits);
pc_params_->SetOffsets(Offsets);
}