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robot_setup.launch
Test.ros2rag 1.21 KiB
/* Version 2020-04-17 */
// --- update definitions ---
read Joint.CurrentPosition using ParseLinkState, LinkStateToIntPosition ;
write RobotArm.AppropriateSpeed using CreateSpeedMessage, SerializeRobotConfig ;
// --- dependency definitions ---
RobotArm.AppropriateSpeed canDependOn Joint.CurrentPosition as dependency1 ;
// --- mapping definitions ---
ParseLinkState maps byte[] bytes to panda.Linkstate.PandaLinkState {:
TestCounter.INSTANCE.numberParseLinkState += 1;
return panda.Linkstate.PandaLinkState.parseFrom(bytes);
:}
SerializeRobotConfig maps config.Robotconfig.RobotConfig rc to byte[] {:
TestCounter.INSTANCE.numberSerializeRobotConfig += 1;
return rc.toByteArray();
:}
LinkStateToIntPosition maps panda.Linkstate.PandaLinkState pls to IntPosition {:
TestCounter.INSTANCE.numberLinkStateToIntPosition += 1;
panda.Linkstate.PandaLinkState.Position p = pls.getPos();
return IntPosition.of((int) (10 * p.getPositionX()), (int) (10 * p.getPositionY()), (int) (10 * p.getPositionZ()));
:}
CreateSpeedMessage maps double speed to config.Robotconfig.RobotConfig {:
TestCounter.INSTANCE.numberCreateSpeedMessage += 1;
return config.Robotconfig.RobotConfig.newBuilder()
.setSpeed(speed)
.build();
:}