diff --git a/CMakeLists.txt b/CMakeLists.txt
index d4134031aa93f9c8e8895f9ba81814a848e349ea..5cfbd15cedba579d9a2ed70ef8b2966fb1725a5d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -7,7 +7,7 @@ add_definitions(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS roscpp dynamic_reconfigure iri_ros_tools actionlib play_motion_msgs)
+find_package(catkin REQUIRED COMPONENTS roscpp dynamic_reconfigure iri_ros_tools actionlib play_motion_msgs iri_base_algorithm)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
@@ -87,6 +87,7 @@ find_package(iriutils REQUIRED)
## Generate dynamic reconfigure parameters in the 'cfg' folder
generate_dynamic_reconfigure_options(
cfg/TiagoPlayMotionModule.cfg
+ cfg/TiagoPlayMotionClient.cfg
)
###################################
@@ -100,8 +101,8 @@ generate_dynamic_reconfigure_options(
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS include
- LIBRARIES play_motion_module
- CATKIN_DEPENDS roscpp dynamic_reconfigure iri_ros_tools actionlib play_motion_msgs
+ LIBRARIES tiago_play_motion_module
+ CATKIN_DEPENDS roscpp dynamic_reconfigure iri_ros_tools actionlib play_motion_msgs iri_base_algorithm
# DEPENDS system_lib
)
@@ -136,21 +137,15 @@ add_dependencies(${module_name} ${${PROJECT_NAME}_EXPORTED_TARGETS})
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/humanoid_modules_node.cpp)
+set(client_name tiago_play_motion_client)
+add_executable(${client_name} src/tiago_play_motion_client_alg.cpp src/tiago_play_motion_client_alg_node.cpp)
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+target_link_libraries(${client_name} ${catkin_LIBRARIES})
+target_link_libraries(${client_name} ${iriutils_LIBRARY})
+target_link_libraries(${client_name} ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_LIB_DESTINATION}/lib${module_name}.so)
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(${PROJECT_NAME}_node
-# ${catkin_LIBRARIES}
-# )
+add_dependencies(${client_name} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${module_name})
+add_dependencies(${client_name} ${tiago_play_motion_client_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
#############
## Install ##
diff --git a/cfg/TiagoPlayMotionClient.cfg b/cfg/TiagoPlayMotionClient.cfg
new file mode 100755
index 0000000000000000000000000000000000000000..8ecd82f9a487b0414ab483677894e680d953f3b8
--- /dev/null
+++ b/cfg/TiagoPlayMotionClient.cfg
@@ -0,0 +1,46 @@
+#! /usr/bin/env python
+#* All rights reserved.
+#*
+#* Redistribution and use in source and binary forms, with or without
+#* modification, are permitted provided that the following conditions
+#* are met:
+#*
+#* * Redistributions of source code must retain the above copyright
+#* notice, this list of conditions and the following disclaimer.
+#* * Redistributions in binary form must reproduce the above
+#* copyright notice, this list of conditions and the following
+#* disclaimer in the documentation and/or other materials provided
+#* with the distribution.
+#* * Neither the name of the Willow Garage nor the names of its
+#* contributors may be used to endorse or promote products derived
+#* from this software without specific prior written permission.
+#*
+#* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+#* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+#* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+#* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+#* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+#* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+#* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+#* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+#* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+#* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+#* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#* POSSIBILITY OF SUCH DAMAGE.
+#***********************************************************
+
+# Author:
+
+PACKAGE='tiago_play_motion_module'
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+# Name Type Reconfiguration level Description Default Min Max
+#gen.add("velocity_scale_factor", double_t, 0, "Maximum velocity scale factor", 0.5, 0.0, 1.0)
+gen.add("motion_name", str_t, 0, "Motion name to execute", "")
+gen.add("start_motion", bool_t, 0, "Execute selected motion", False)
+gen.add("cancel_motion", bool_t, 0, "Cancel current motion", False)
+
+exit(gen.generate(PACKAGE, "TiagoPlayMotionClient", "TiagoPlayMotionClient"))
diff --git a/include/tiago_play_motion_client_alg.h b/include/tiago_play_motion_client_alg.h
new file mode 100644
index 0000000000000000000000000000000000000000..6394a3f93fc1b4690759a5f789c4074f71f38145
--- /dev/null
+++ b/include/tiago_play_motion_client_alg.h
@@ -0,0 +1,131 @@
+// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
+// Author
+// All rights reserved.
+//
+// This file is part of iri-ros-pkg
+// iri-ros-pkg is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+// IMPORTANT NOTE: This code has been generated through a script from the
+// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
+// of the scripts. ROS topics can be easly add by using those scripts. Please
+// refer to the IRI wiki page for more information:
+// http://wikiri.upc.es/index.php/Robotics_Lab
+
+#ifndef _play_motion_client_alg_h_
+#define _play_motion_client_alg_h_
+
+#include <tiago_play_motion_module/TiagoPlayMotionClientConfig.h>
+
+//include humanoid_common_play_motion_client_alg main library
+
+/**
+ * \brief IRI ROS Specific Driver Class
+ *
+ *
+ */
+class TiagoPlayMotionClientAlgorithm
+{
+ protected:
+ /**
+ * \brief define config type
+ *
+ * Define a Config type with the TiagoPlayMotionClientConfig. All driver implementations
+ * will then use the same variable type Config.
+ */
+ pthread_mutex_t access_;
+
+ // private attributes and methods
+
+ public:
+ /**
+ * \brief define config type
+ *
+ * Define a Config type with the TiagoPlayMotionClientConfig. All driver implementations
+ * will then use the same variable type Config.
+ */
+ typedef tiago_play_motion_module::TiagoPlayMotionClientConfig Config;
+
+ /**
+ * \brief config variable
+ *
+ * This variable has all the driver parameters defined in the cfg config file.
+ * Is updated everytime function config_update() is called.
+ */
+ Config config_;
+
+ /**
+ * \brief constructor
+ *
+ * In this constructor parameters related to the specific driver can be
+ * initalized. Those parameters can be also set in the openDriver() function.
+ * Attributes from the main node driver class IriBaseDriver such as loop_rate,
+ * may be also overload here.
+ */
+ TiagoPlayMotionClientAlgorithm(void);
+
+ /**
+ * \brief Lock Algorithm
+ *
+ * Locks access to the Algorithm class
+ */
+ void lock(void) { pthread_mutex_lock(&this->access_); };
+
+ /**
+ * \brief Unlock Algorithm
+ *
+ * Unlocks access to the Algorithm class
+ */
+ void unlock(void) { pthread_mutex_unlock(&this->access_); };
+
+ /**
+ * \brief Tries Access to Algorithm
+ *
+ * Tries access to Algorithm
+ *
+ * \return true if the lock was adquired, false otherwise
+ */
+ bool try_enter(void)
+ {
+ if(pthread_mutex_trylock(&this->access_)==0)
+ return true;
+ else
+ return false;
+ };
+
+ /**
+ * \brief config update
+ *
+ * In this function the driver parameters must be updated with the input
+ * config variable. Then the new configuration state will be stored in the
+ * Config attribute.
+ *
+ * \param new_cfg the new driver configuration state
+ *
+ * \param level level in which the update is taken place
+ */
+ void config_update(Config& new_cfg, uint32_t level=0);
+
+ // here define all play_motion_client_alg interface methods to retrieve and set
+ // the driver parameters
+
+ /**
+ * \brief Destructor
+ *
+ * This destructor is called when the object is about to be destroyed.
+ *
+ */
+ ~TiagoPlayMotionClientAlgorithm(void);
+};
+
+#endif
diff --git a/include/tiago_play_motion_client_alg_node.h b/include/tiago_play_motion_client_alg_node.h
new file mode 100644
index 0000000000000000000000000000000000000000..4875125465b31a0c2eda4f35d1688ea81fa36d0c
--- /dev/null
+++ b/include/tiago_play_motion_client_alg_node.h
@@ -0,0 +1,119 @@
+// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
+// Author
+// All rights reserved.
+//
+// This file is part of iri-ros-pkg
+// iri-ros-pkg is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+// IMPORTANT NOTE: This code has been generated through a script from the
+// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
+// of the scripts. ROS topics can be easly add by using those scripts. Please
+// refer to the IRI wiki page for more information:
+// http://wikiri.upc.es/index.php/Robotics_Lab
+
+#ifndef _play_motion_client_alg_node_h_
+#define _play_motion_client_alg_node_h_
+
+#include <iri_base_algorithm/iri_base_algorithm.h>
+#include "tiago_play_motion_client_alg.h"
+
+// [publisher subscriber headers]
+
+// [service client headers]
+
+// [play_motion server client headers]
+
+#include <tiago_play_motion_module/tiago_play_motion_module.h>
+
+/**
+ * \brief IRI ROS Specific Algorithm Class
+ *
+ */
+class TiagoPlayMotionClientAlgNode : public algorithm_base::IriBaseAlgorithm<TiagoPlayMotionClientAlgorithm>
+{
+ private:
+ // [publisher attributes]
+
+ // [subscriber attributes]
+
+ // [service attributes]
+
+ // [client attributes]
+
+ // [play_motion server attributes]
+
+ // [play_motion client attributes]
+
+ CTiagoPlayMotionModule play_motion;
+
+ public:
+ /**
+ * \brief Constructor
+ *
+ * This constructor initializes specific class attributes and all ROS
+ * communications variables to enable message exchange.
+ */
+ TiagoPlayMotionClientAlgNode(void);
+
+ /**
+ * \brief Destructor
+ *
+ * This destructor frees all necessary dynamic memory allocated within this
+ * this class.
+ */
+ ~TiagoPlayMotionClientAlgNode(void);
+
+ protected:
+ /**
+ * \brief main node thread
+ *
+ * This is the main thread node function. Code written here will be executed
+ * in every node loop while the algorithm is on running state. Loop frequency
+ * can be tuned by modifying loop_rate attribute.
+ *
+ * Here data related to the process loop or to ROS topics (mainly data structs
+ * related to the MSG and SRV files) must be updated. ROS publisher objects
+ * must publish their data in this process. ROS client servers may also
+ * request data to the corresponding server topics.
+ */
+ void mainNodeThread(void);
+
+ /**
+ * \brief dynamic reconfigure server callback
+ *
+ * This method is called whenever a new configuration is received through
+ * the dynamic reconfigure. The derivated generic algorithm class must
+ * implement it.
+ *
+ * \param config an object with new configuration from all algorithm
+ * parameters defined in the config file.
+ * \param level integer referring the level in which the configuration
+ * has been changed.
+ */
+ void node_config_update(Config &config, uint32_t level);
+
+ /**
+ * \brief node add diagnostics
+ *
+ * In this abstract function additional ROS diagnostics applied to the
+ * specific algorithms may be added.
+ */
+ void addNodeDiagnostics(void);
+
+ // [diagnostic functions]
+
+ // [test functions]
+};
+
+#endif
diff --git a/launch/play_motion_client.launch b/launch/play_motion_client.launch
new file mode 100644
index 0000000000000000000000000000000000000000..977318fd21b2673202681d497797618b08401e1e
--- /dev/null
+++ b/launch/play_motion_client.launch
@@ -0,0 +1,20 @@
+<launch>
+
+ <!-- launch the play motion client node -->
+ <node name="play_motion_client"
+ pkg="play_motion_client"
+ type="play_motion_client"
+ output="screen"
+ ns="/tiago">
+ <remap from="~/play_motion_module/play_motion"
+ to="/play_motion"/>
+
+ <rosparam file="$(find tiago_modules)/config/play_motion_module_default.yaml" command="load" ns="play_motion_module" />
+ </node>
+
+ <!-- launch dynamic reconfigure -->
+ <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
+ output="screen"/>
+
+</launch>
+
diff --git a/launch/play_motion_client_sim.launch b/launch/play_motion_client_sim.launch
new file mode 100644
index 0000000000000000000000000000000000000000..610963369886b94f01e9f080371e078d79a7cbff
--- /dev/null
+++ b/launch/play_motion_client_sim.launch
@@ -0,0 +1,11 @@
+<launch>
+
+ <include file="$(find tiago_gazebo)/launch/tiago_gazebo.launch">
+ <arg name="public_sim" value="true" />
+ <arg name="robot" value="steel" />
+ </include>
+
+ <include file="$(find play_motion_client)/launch/play_motion_client.launch"/>
+
+</launch>
+
diff --git a/package.xml b/package.xml
index 84d2a58df1015a61efd4a5fc315f9793fddf5705..0ff43a3caf205e37cdcd7724f18dc52d04e4a8fe 100644
--- a/package.xml
+++ b/package.xml
@@ -45,6 +45,7 @@
<build_depend>dynamic_reconfigure</build_depend>
<build_depend>actionlib</build_depend>
<build_depend>play_motion_msgs</build_depend>
+ <build_depend>iri_base_algorithm</build_depend>
<!-- new dependencies -->
<!--<build_depend>new build dependency</build_depend>-->
<run_depend>iri_ros_tools</run_depend>
@@ -52,6 +53,7 @@
<run_depend>dynamic_reconfigure</run_depend>
<run_depend>actionlib</run_depend>
<run_depend>play_motion_msgs</run_depend>
+ <run_depend>iri_base_algorithm</run_depend>
<!-- new dependencies -->
<!--<run_depend>new run dependency</run_depend>-->
diff --git a/src/tiago_play_motion_client_alg.cpp b/src/tiago_play_motion_client_alg.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..394cbb0cb11217e496c56d3be7199f5d79375e91
--- /dev/null
+++ b/src/tiago_play_motion_client_alg.cpp
@@ -0,0 +1,23 @@
+#include "tiago_play_motion_client_alg.h"
+
+TiagoPlayMotionClientAlgorithm::TiagoPlayMotionClientAlgorithm(void)
+{
+ pthread_mutex_init(&this->access_,NULL);
+}
+
+TiagoPlayMotionClientAlgorithm::~TiagoPlayMotionClientAlgorithm(void)
+{
+ pthread_mutex_destroy(&this->access_);
+}
+
+void TiagoPlayMotionClientAlgorithm::config_update(Config& new_cfg, uint32_t level)
+{
+ this->lock();
+
+ // save the current configuration
+ this->config_=new_cfg;
+
+ this->unlock();
+}
+
+// TiagoPlayMotionClientAlgorithm Public API
diff --git a/src/tiago_play_motion_client_alg_node.cpp b/src/tiago_play_motion_client_alg_node.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..5710581b286125c990c7bb0b41acf78604a8e934
--- /dev/null
+++ b/src/tiago_play_motion_client_alg_node.cpp
@@ -0,0 +1,74 @@
+#include "tiago_play_motion_client_alg_node.h"
+#include <tiago_play_motion_module/tiago_play_motion_module.h>
+
+TiagoPlayMotionClientAlgNode::TiagoPlayMotionClientAlgNode(void) :
+ algorithm_base::IriBaseAlgorithm<TiagoPlayMotionClientAlgorithm>(),
+ play_motion("play_motion_module",ros::this_node::getName())
+{
+ //init class attributes if necessary
+ //this->loop_rate_ = 2;//in [Hz]
+
+ // [init publishers]
+
+ // [init subscribers]
+
+ // [init services]
+
+ // [init clients]
+
+ // [init play_motion servers]
+
+ // [init play_motion clients]
+}
+
+TiagoPlayMotionClientAlgNode::~TiagoPlayMotionClientAlgNode(void)
+{
+ // [free dynamic memory]
+}
+
+void TiagoPlayMotionClientAlgNode::mainNodeThread(void)
+{
+ // [fill msg structures]
+
+ // [fill srv structure and make request to the server]
+
+ // [fill play_motion structure and make request to the play_motion server]
+
+ // [publish messages]
+}
+
+/* [subscriber callbacks] */
+
+/* [service callbacks] */
+
+/* [play_motion callbacks] */
+
+void TiagoPlayMotionClientAlgNode::node_config_update(Config &config, uint32_t level)
+{
+ this->alg_.lock();
+ if(config.start_motion)
+ {
+ if(!this->play_motion.is_finished())
+ ROS_WARN("Impossible to execute play_motion because the previous play_motion is not finished yet");
+ else
+ this->play_motion.execute_motion(config.motion_name);
+ config.start_motion=false;
+ }
+ else if(config.cancel_motion)
+ {
+ if(!this->play_motion.is_finished())
+ this->play_motion.stop();
+ config.cancel_motion=false;
+ }
+ this->alg_.unlock();
+}
+
+void TiagoPlayMotionClientAlgNode::addNodeDiagnostics(void)
+{
+}
+
+/* main function */
+int main(int argc,char *argv[])
+{
+ return algorithm_base::main<TiagoPlayMotionClientAlgNode>(argc, argv, "play_motion_client_alg_node");
+}
diff --git a/src/tiago_play_motion_module.cpp b/src/tiago_play_motion_module.cpp
index d6d844596a77868c21e6ed0614a0f1fd0001a706..27ddbb606fcc76ca7129246d972442c5f0d1f473 100644
--- a/src/tiago_play_motion_module.cpp
+++ b/src/tiago_play_motion_module.cpp
@@ -111,7 +111,7 @@ void CTiagoPlayMotionModule::execute_motion(std::string motion_name)
{
XmlRpc::XmlRpcValue symbols;
- if(!ros::param::get(this->config_.motions_param_path.c_str(), symbols))
+ if(!ros::param::get(this->config.motions_param_path.c_str(), symbols))
return;
else
{
@@ -119,7 +119,7 @@ void CTiagoPlayMotionModule::execute_motion(std::string motion_name)
return;
for (XmlRpc::XmlRpcValue::iterator i=symbols.begin(); i!=symbols.end(); ++i)
{
- std::cout << i->second[i] << std::endl;
+ std::cout << i->second << std::endl;
}
}
/*