9 May 2017

09-05-17/iri_foot/CMakeLists.txt

+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})

09-05-17/iri_foot/cfg/Foot.cfg

+#! /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"))

09-05-17/iri_foot/include/foot_alg.h

+// 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

09-05-17/iri_foot/include/foot_alg_node.h

+// 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

09-05-17/iri_foot/launch/foot.launch

+<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>

09-05-17/iri_foot/launch/foot.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>

09-05-17/iri_foot/package.xml

+<?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>

09-05-17/iri_foot/src/foot_alg.cpp

+#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
+
+

09-05-17/iri_foot/src/foot_alg_node.cpp

+#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));