Commit dcbaef6f authored by Víctor Silos Sánchez's avatar Víctor Silos Sánchez
Browse files

9 May 2017

parent 1ff47c68
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})
#! /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);
};
#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 <string>
// [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 transformrobnothing;
tf::StampedTransform transformrobrightfoot;
tf::StampedTransform transformrobleftfoot;
tf::Vector3 goalleft;
tf::Vector3 goalright;
//tf::Vector3 goalnothing;
std::string state;
// [publisher attributes]
ros::Publisher pose_surface_publisher_;
geometry_msgs::PoseStamped pose_surface_PoseStamped_msg_;
// [subscriber attributes]
ros::Subscriber feetextended_subscriber_;
void feetextended_callback(const std_msgs::String::ConstPtr& msg);
pthread_mutex_t feetextended_mutex_;
void feetextended_mutex_enter(void);
void feetextended_mutex_exit(void);
// [service attributes]
// [client attributes]
// [action server attributes]
// [action client attributes]
/**
* \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_;
public:
/**
* \brief Constructor
*
* This constructor initializes specific class attributes and all ROS
* communications variables to enable message exchange.
*/
FootAlgNode(void);
/**
* \brief Destructor
*
* This destructor frees all necessary dynamic memory allocated within this
* this class.
*/
~FootAlgNode(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
<launch>
<node pkg="tf" type="static_transform_publisher" name="tfcameratorobot" args="0.60 -0.22 1.36 0 3.14159265359 -1.57079632679 /brix_2_camera_frame world 100" />
<remap from="/iri_foot/feetextended" to="/iri_foot_extended/feetextended"/>
<node pkg="iri_foot" type ="iri_foot" name="iri_foot"/>
<node pkg="iri_foot_extended" type ="iri_foot_extended" name="iri_foot_extended"/>
</launch>
<launch>
<node pkg="tf" type="static_transform_publisher" name="tfcameratorobot" args="0.85 -0.22 1.36 0 3.14159265359 -1.57079632679 /brix_2_camera_frame world 100" />
<remap from="/iri_foot/feetextended" to="/iri_foot_extended/feetextended"/>
<node pkg="iri_foot" type ="iri_foot" name="iri_foot"/>
<node pkg="iri_foot_extended" type ="iri_foot_extended" name="iri_foot_extended"/>
</launch>
<?xml version="1.0"?>
<package>
<name>iri_foot</name>
<version>0.0.0</version>
<description>The iri_foot package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="vsilos@todo.todo">vsilos</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>LGPL</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/iri_foot</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *_depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use run_depend for packages you need at runtime: -->
<!-- <run_depend>message_runtime</run_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>iri_base_algorithm</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>tf</build_depend>
<run_depend>iri_base_algorithm</run_depend>
<run_depend>geometry_msgs</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>tf</run_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
#include "foot_alg.h"
FootAlgorithm::FootAlgorithm(void)
{
pthread_mutex_init(&this->access_,NULL);
}
FootAlgorithm::~FootAlgorithm(void)
{
pthread_mutex_destroy(&this->access_);
}
void FootAlgorithm::config_update(Config& config, uint32_t level)
{
this->lock();
// save the current configuration
this->config_=config;
this->unlock();
}
// FootAlgorithm Public API
#include "foot_alg_node.h"
using namespace std;
#include <string>
FootAlgNode::FootAlgNode(void) :
algorithm_base::IriBaseAlgorithm<FootAlgorithm>()
{
//init class attributes if necessary
//this->loop_rate_ = 50;//in [Hz]
state == "Nothing";
// [init publishers]
this->pose_surface_publisher_ = this->public_node_handle_.advertise<geometry_msgs::PoseStamped>("pose_surface", 10);
// [init subscribers]
this->feetextended_subscriber_ = this->public_node_handle_.subscribe("feetextended", 10, &FootAlgNode::feetextended_callback, this);
pthread_mutex_init(&this->feetextended_mutex_,NULL);
// [init services]
// [init clients]
// [init action servers]
// [init action clients]
}
FootAlgNode::~FootAlgNode(void)
{
// [free dynamic memory]
pthread_mutex_destroy(&this->feetextended_mutex_);
}
void FootAlgNode::mainNodeThread(void)
{
// [fill msg structures]
// Initialize the topic message structure
/*
if (state == "Left")
{
ROS_INFO("Sending the position of the Left Foot!");
}
else if (state == "Right")
{
ROS_INFO("Sending the position of the Right Foot!");
}
else if (state == "Nothing")
{
//Just in case
}
*/
// Initialize the topic message structure
// Initialize the topic message structure
// [fill srv structure and make request to the server]
// [fill action structure and make request to the action server]
// [publish messages]
// Uncomment the following line to publish the topic message
// Uncomment the following line to publish the topic message
// Uncomment the following line to publish the topic message
}
/* [subscriber callbacks] */
void FootAlgNode::feetextended_callback(const std_msgs::String::ConstPtr& msg)
{
ROS_INFO("FootAlgNode::feetextended_callback: New Message Received");
string child_rightfoot("/brix_2/user_1/right_foot");
string child_leftfoot("/brix_2/user_1/left_foot");
//string child_nothing("/brix_2/user_1/nothing");
string parent_cameraframe("/brix_2_camera_frame");
string child_robot("iri_wam_link_base");
try{
ros::Time zero = ros::Time(0);
ros::Time now = ros::Time::now();
ros::Duration three_seconds = ros::Duration(3.0);
listener.waitForTransform(child_robot, child_rightfoot, zero, three_seconds);
listener.waitForTransform(child_robot, child_leftfoot, zero, three_seconds);
listener.lookupTransform(child_robot, child_rightfoot, zero,transformrobrightfoot);
listener.lookupTransform(child_robot, child_leftfoot, zero,transformrobleftfoot);
//transformrobnothing.setOrigin(tf::Vector3(0.2, 0.2, 0.2));