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Commit 5fe70d9a authored by Sergi Hernandez's avatar Sergi Hernandez
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Merge branch 'arm_module' into 'master' 

Arm module

See merge request nen/modules/tiago_modules!3
parents 68f520bf bf49698f
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CMakeLists.txt
+ 18
− 2
View file @ 5fe70d9a
......@@ -93,6 +93,7 @@ generate_dynamic_reconfigure_options(
cfg/HeadModule.cfg
cfg/NavModule.cfg
cfg/TTSModule.cfg
cfg/ArmModule.cfg
)
###################################
......@@ -106,8 +107,8 @@ generate_dynamic_reconfigure_options(
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS include
LIBRARIES gripper_module play_motion_module head_module torso_module nav_module tts_module#leds_module
CATKIN_DEPENDS roscpp dynamic_reconfigure iri_ros_tools actionlib play_motion_msgs control_msgs geometry_msgs std_srvs move_base_msgs tf nav_msgs pal_navigation_msgs pal_waypoint_msgs pal_interaction_msgs
LIBRARIES gripper_module play_motion_module head_module torso_module nav_module tts_module arm_module#leds_module
CATKIN_DEPENDS roscpp dynamic_reconfigure iri_ros_tools actionlib play_motion_msgs control_msgs geometry_msgs std_srvs move_base_msgs tf nav_msgs pal_navigation_msgs pal_waypoint_msgs pal_interaction_msgs moveit_msgs
# DEPENDS system_lib
)
......@@ -227,6 +228,21 @@ target_link_libraries(tts_module ${iriutils_LIBRARY})
## either from message generation or dynamic reconfigure
add_dependencies(tts_module ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ library
add_library(arm_module
src/arm_module.cpp
)
target_link_libraries(arm_module ${catkin_LIBRARIES})
target_link_libraries(arm_module ${iriutils_LIBRARY})
##Link to other modules
##target_link_libraries(new_module <module path>/lib<module_name>.so)
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
add_dependencies(arm_module ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
......
cfg/PlayMotionModule.cfg
+ 5
− 4
View file @ 5fe70d9a
......@@ -41,11 +41,12 @@ play_action = gen.add_group("Play motion action")
# 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("rate_hz", double_t, 0, "Gripper module rate in Hz", 1.0, 1.0, 100.0)
gen.add("rate_hz", double_t, 0, "Gripper module rate in Hz", 1.0, 1.0, 100.0)
play_action.add("action_max_retries",int_t, 0, "Maximum number of retries for the action start", 1, 1, 10)
play_action.add("action_max_retries",int_t, 0, "Maximum number of retries for the action start", 1, 1, 10)
play_action.add("feedback_watchdog_time_s",double_t, 0, "Maximum time between feedback messages", 1, 0.01, 50)
play_action.add("timeout_s", double_t, 0, "Maximum time allowed to complete the action", 1, 0.1, 30)
play_action.add("enable_timeout",bool_t, 0, "Enable action timeout ", True)
play_action.add("timeout_s", double_t, 0, "Maximum time allowed to complete the action", 1, 0.1, 30)
play_action.add("enable_timeout", bool_t, 0, "Enable action timeout", True)
play_action.add("enabled", bool_t, 0, "Enable action execution", True)
exit(gen.generate(PACKAGE, "PlayMotionModuleAlgorithm", "PlayMotionModule"))
include/tiago_modules/play_motion_module.h
+ 2
− 1
View file @ 5fe70d9a
......@@ -13,7 +13,8 @@
typedef enum {PLAY_MOTION_MODULE_IDLE,PLAY_MOTION_MODULE_START,PLAY_MOTION_MODULE_WAIT} play_motion_module_state_t;
//Status
typedef enum {PLAY_MOTION_MODULE_SUCCESS,
typedef enum {PLAY_MOTION_MODULE_RUNNING,
PLAY_MOTION_MODULE_SUCCESS,
PLAY_MOTION_MODULE_ACTION_START_FAIL,
PLAY_MOTION_MODULE_TIMEOUT,
PLAY_MOTION_MODULE_FB_WATCHDOG,
......
package.xml
+ 2
− 0
View file @ 5fe70d9a
......@@ -53,6 +53,7 @@
<build_depend>pal_navigation_msgs</build_depend>
<build_depend>pal_waypoint_msgs</build_depend>
<build_depend>pal_interaction_msgs</build_depend>
<build_depend>moveit_msgs</build_depend>
<build_depend>tf</build_depend>
<!-- new dependencies -->
<!--<build_depend>new build dependency</build_depend>-->
......@@ -69,6 +70,7 @@
<run_depend>pal_navigation_msgs</run_depend>
<run_depend>pal_waypoint_msgs</run_depend>
<run_depend>pal_interaction_msgs</run_depend>
<run_depend>moveit_msgs</run_depend>
<run_depend>tf</run_depend>
<!-- new dependencies -->
<!--<run_depend>new run dependency</run_depend>-->
......
src/play_motion_module.cpp
+ 7
− 1
View file @ 5fe70d9a
......@@ -2,7 +2,7 @@
CPlayMotionModule::CPlayMotionModule(const std::string &name,const std::string &name_space) : CModule(name,name_space),
play_motion_action("play_motion",name)
play_motion_action("play_motion",this->module_nh.getNamespace())
{
this->start_operation();
......@@ -24,6 +24,7 @@ void CPlayMotionModule::state_machine(void)
{
this->new_motion=false;
this->state=PLAY_MOTION_MODULE_START;
this->status=PLAY_MOTION_MODULE_RUNNING;
}
else
this->state=PLAY_MOTION_MODULE_IDLE;
......@@ -39,6 +40,7 @@ void CPlayMotionModule::state_machine(void)
ROS_WARN("CPlayMotionModule : goal start pending");
break;
case ACT_SRV_FAIL: this->state=PLAY_MOTION_MODULE_IDLE;
this->status=PLAY_MOTION_MODULE_ACTION_START_FAIL;
ROS_ERROR("CPlayMotionModule: goal start failed");
break;
}
......@@ -107,6 +109,10 @@ void CPlayMotionModule::reconfigure_callback(play_motion_module::PlayMotionModul
this->play_motion_action.enable_timeout(config.timeout_s);
else
this->play_motion_action.disable_timeout();
if(this->config.enabled)
this->play_motion_action.enable();
else
this->play_motion_action.disable();
this->unlock();
}
......
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