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Added a new class to test the vrep communication in robots commanded by joints velocities

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This commit is contained in:
Juancho
2023-08-03 11:53:57 +09:00
parent e45a160fd0
commit 51910be06d
3 changed files with 66 additions and 40 deletions
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20
include/robot_coppelia_ros_interface.h
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@@ -21,7 +21,9 @@ struct RobotCoppeliaROSConfiguration
int thread_sampling_time_nsec;
int port;
std::string ip;
std::vector<std::string> jointnames;
std::string robot_mode;
bool mirror_mode;
};
class RobotCoppeliaRosInterface
@@ -31,13 +33,18 @@ private:
bool _should_shutdown() const;
sas::Clock clock_;
RobotCoppeliaROSConfiguration configuration_;
std::string robot_mode_ = std::string("VelocityControl"); // PositionControl
bool mirror_mode_ = false;
double gain_ = 0.5;
protected:
ros::NodeHandle nh_;
VectorXd joint_positions_;
VectorXd target_joint_positions_;
VectorXd target_joint_velocities_;
std::string topic_prefix_;
ros::Publisher publisher_target_joint_positions_;
//ros::Publisher publisher_target_joint_positions_;
ros::Publisher publisher_joint_states_;
//ros::Subscriber subscriber_joint_state_;
ros::Subscriber subscriber_target_joint_positions_;
@@ -47,6 +54,7 @@ protected:
std::shared_ptr<DQ_VrepInterface> vi_;
void _joint_states_callback(const sensor_msgs::JointState::ConstPtr& jointstate);
void _callback_target_joint_positions(const std_msgs::Float64MultiArrayConstPtr &msg);
void _callback_target_joint_velocities(const std_msgs::Float64MultiArrayConstPtr& msg);
void send_joint_states(const VectorXd &joint_positions, const VectorXd &joint_velocities, const VectorXd &joint_forces);
@@ -54,15 +62,15 @@ protected:
public:
RobotCoppeliaRosInterface(const ros::NodeHandle& nh,
const std::string& topic_prefix,
const std::vector<std::string>& jointnames,
const RobotCoppeliaROSConfiguration& configuration,
std::atomic_bool* kill_this_node);
RobotCoppeliaRosInterface()=delete;
~RobotCoppeliaRosInterface();
VectorXd get_joint_positions() const;
void set_joint_target_positions(const VectorXd& target_joint_positions);
void set_joint_target_velocities(const VectorXd& target_joint_velocities);
//VectorXd get_joint_positions() const;
//void set_joint_target_positions(const VectorXd& target_joint_positions);
//void set_joint_target_positions_(const VectorXd& target_joint_positions);
int control_loop();
};