Commit 15385d9a authored by Víctor Silos Sánchez's avatar Víctor Silos Sánchez
Browse files

Until 28 April

parent 36bc2f0f
cmake_minimum_required(VERSION 2.8.3)
project(iri_foot)
## Find catkin macros and libraries
find_package(catkin REQUIRED)
# ********************************************************************
# Add catkin additional components here
# ********************************************************************
find_package(catkin REQUIRED COMPONENTS iri_base_algorithm geometry_msgs std_msgs tf)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
# ********************************************************************
# Add system and labrobotica dependencies here
# ********************************************************************
# find_package(<dependency> REQUIRED)
# ********************************************************************
# Add topic, service and action definition here
# ********************************************************************
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
# ********************************************************************
# Add the dynamic reconfigure file
# ********************************************************************
generate_dynamic_reconfigure_options(cfg/Foot.cfg)
# ********************************************************************
# Add run time dependencies here
# ********************************************************************
catkin_package(
# INCLUDE_DIRS
# LIBRARIES
# ********************************************************************
# Add ROS and IRI ROS run time dependencies
# ********************************************************************
CATKIN_DEPENDS iri_base_algorithm geometry_msgs
# ********************************************************************
# Add system and labrobotica run time dependencies here
# ********************************************************************
# DEPENDS
)
###########
## Build ##
###########
# ********************************************************************
# Add the include directories
# ********************************************************************
include_directories(include)
include_directories(${catkin_INCLUDE_DIRS})
# include_directories(${<dependency>_INCLUDE_DIR})
## Declare a cpp library
# add_library(${PROJECT_NAME} <list of source files>)
## Declare a cpp executable
add_executable(${PROJECT_NAME} src/foot_alg.cpp src/foot_alg_node.cpp)
# ********************************************************************
# Add the libraries
# ********************************************************************
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
# target_link_libraries(${PROJECT_NAME} ${<dependency>_LIBRARY})
# ********************************************************************
# Add message headers dependencies
# ********************************************************************
#add_dependencies(${PROJECT_NAME} <msg_package_name>_generate_messages_cpp)
add_dependencies(${PROJECT_NAME} geometry_msgs_generate_messages_cpp)
add_dependencies(${PROJECT_NAME} std_msgs_generate_messages_cpp)
# ********************************************************************
# Add dynamic reconfigure dependencies
# ********************************************************************
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS})
cmake_minimum_required(VERSION 2.8.3)
project(iri_foot)
## Find catkin macros and libraries
find_package(catkin REQUIRED)
# ********************************************************************
# Add catkin additional components here
# ********************************************************************
find_package(catkin REQUIRED COMPONENTS iri_base_algorithm std_msgs tf)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
# ********************************************************************
# Add system and labrobotica dependencies here
# ********************************************************************
# find_package(<dependency> REQUIRED)
# ********************************************************************
# Add topic, service and action definition here
# ********************************************************************
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
# ********************************************************************
# Add the dynamic reconfigure file
# ********************************************************************
generate_dynamic_reconfigure_options(cfg/Foot.cfg)
# ********************************************************************
# Add run time dependencies here
# ********************************************************************
catkin_package(
# INCLUDE_DIRS
# LIBRARIES
# ********************************************************************
# Add ROS and IRI ROS run time dependencies
# ********************************************************************
CATKIN_DEPENDS iri_base_algorithm
# ********************************************************************
# Add system and labrobotica run time dependencies here
# ********************************************************************
# DEPENDS
)
###########
## Build ##
###########
# ********************************************************************
# Add the include directories
# ********************************************************************
include_directories(include)
include_directories(${catkin_INCLUDE_DIRS})
# include_directories(${<dependency>_INCLUDE_DIR})
## Declare a cpp library
# add_library(${PROJECT_NAME} <list of source files>)
## Declare a cpp executable
add_executable(${PROJECT_NAME} src/foot_alg.cpp src/foot_alg_node.cpp)
# ********************************************************************
# Add the libraries
# ********************************************************************
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
# target_link_libraries(${PROJECT_NAME} ${<dependency>_LIBRARY})
# ********************************************************************
# Add message headers dependencies
# ********************************************************************
add_dependencies(${PROJECT_NAME} std_msgs_generate_messages_cpp)
# ********************************************************************
# Add dynamic reconfigure dependencies
# ********************************************************************
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS})
#! /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='iri_foot'
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)
exit(gen.generate(PACKAGE, "FootAlgorithm", "Foot"))
// 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 _foot_alg_h_
#define _foot_alg_h_
#include <iri_foot/FootConfig.h>
#include <tf/transform_listener.h>
//include foot_alg main library
/**
* \brief IRI ROS Specific Driver Class
*
*
*/
class FootAlgorithm
{
protected:
/**
* \brief define config type
*
* Define a Config type with the FootConfig. 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 FootConfig. All driver implementations
* will then use the same variable type Config.
*/
typedef iri_foot::FootConfig 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.
*/
FootAlgorithm(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& config, uint32_t level=0);
// here define all foot_alg interface methods to retrieve and set
// the driver parameters
/**
* \brief Destructor
*
* This destructor is called when the object is about to be destroyed.
*
*/
~FootAlgorithm(void);
void angle(tf::Vector3 p1, tf::Vector3 p2, tf::Vector3 p3, tf::Vector3 p4, double& angleft, double& angright);
};
#endif
// 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 _foot_alg_h_
#define _foot_alg_h_
#include <iri_foot/FootConfig.h>
#include <tf/transform_listener.h>
//include foot_alg main library
/**
* \brief IRI ROS Specific Driver Class
*
*
*/
class FootAlgorithm
{
protected:
/**
* \brief define config type
*
* Define a Config type with the FootConfig. 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 FootConfig. All driver implementations
* will then use the same variable type Config.
*/
typedef iri_foot::FootConfig 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.
*/
FootAlgorithm(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& config, uint32_t level=0);
// here define all foot_alg interface methods to retrieve and set
// the driver parameters
/**
* \brief Destructor
*
* This destructor is called when the object is about to be destroyed.
*
*/
~FootAlgorithm(void);
void angle(tf::Vector3 p1, tf::Vector3 p2, tf::Vector3 p3, tf::Vector3 p4, double& angleft, double& angright);
};
#endif
// 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 _foot_alg_node_h_
#define _foot_alg_node_h_
#include <iri_base_algorithm/iri_base_algorithm.h>
#include "foot_alg.h"
#include <tf/transform_listener.h>
#include <tf/transform_broadcaster.h>
//#include "tf/message_filter.h"
// [publisher subscriber headers]
#include <geometry_msgs/PoseStamped.h>
#include <std_msgs/String.h>
#include <std_msgs/Float64.h>
// [service client headers]
// [action server client headers]
/**
* \brief IRI ROS Specific Algorithm Class
*
*/
class FootAlgNode : public algorithm_base::IriBaseAlgorithm<FootAlgorithm>
{
private:
tf::TransformListener listener;
tf::TransformBroadcaster broadcaster;
tf::StampedTransform transform1;
tf::StampedTransform transform2;
tf::StampedTransform transform3;
tf::StampedTransform transform4;
tf::StampedTransform transform5;
tf::StampedTransform transform6;
tf::StampedTransform transformrobleftdist;
tf::StampedTransform transformrobrightdist;
tf::Vector3 rightfoot;
tf::Vector3 leftfoot;
tf::Vector3 leftknee;
tf::Vector3 rightknee;
tf::Vector3 righthand;
tf::Vector3 sumalfoot;
tf::Vector3 sumarfoot;
tf::Vector3 sumalknee;
tf::Vector3 sumarknee;
tf::Vector3 distancesafe;
tf::Vector3 robot;
tf::Vector3 goalleft;
tf::Vector3 goalright;
//message_filters::Subscriber<geometry_msgs::PointStamped> point_sub_;
//tf::MessageFilter<geometry_msgs::PointStamped> * tf_filter_;
// [publisher attributes]
ros::Publisher pose_surface_publisher_;
geometry_msgs::PoseStamped pose_surface_PoseStamped_msg_;
ros::Publisher myfeet_publisher_;
std_msgs::String myfeet_String_msg_;