diff --git a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/SimpleMain.java b/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/SimpleMain.java
index 7c5412515d03e40503b22f1bc5f080eafac33aca..74406f87a166732efedafbc772d114185f24e227 100644
--- a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/SimpleMain.java
+++ b/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/SimpleMain.java
@@ -7,6 +7,7 @@ import org.jastadd.ros2rag.scanner.Ros2RagScanner;
import java.io.BufferedReader;
import java.io.IOException;
+import java.nio.ByteBuffer;
import java.nio.file.Files;
import java.nio.file.Path;
import java.nio.file.Paths;
@@ -17,34 +18,95 @@ import java.nio.file.Paths;
* @author rschoene - Initial contribution
*/
public class SimpleMain {
+
+ // --- just testing byte[] conversion ---
+ public static void testing() {
+ byte[] bytes;
+ int i = 1;
+ double d = 2.3d;
+ float f = 4.2f;
+ short sh = 13;
+ long l = 7L;
+ String s = "Hello";
+ char c = 'a';
+
+ Integer ii = Integer.valueOf(1);
+ if (!ii.equals(i)) throw new AssertionError("Ints not equal");
+
+ // int to byte
+ ByteBuffer i2b = ByteBuffer.allocate(4);
+ i2b.putInt(i);
+ bytes = i2b.array();
+
+ // byte to int
+ ByteBuffer b2i = ByteBuffer.wrap(bytes);
+ int actual_i = b2i.getInt();
+ if (i != actual_i) throw new AssertionError("Ints not equal");
+
+ // double to byte
+ ByteBuffer d2b = ByteBuffer.allocate(8);
+ d2b.putDouble(d);
+ bytes = d2b.array();
+
+ // byte to double
+ ByteBuffer b2d = ByteBuffer.wrap(bytes);
+ double actual_d = b2d.getDouble();
+ if (d != actual_d) throw new AssertionError("Doubles not equal");
+
+ // float to byte
+ ByteBuffer f2b = ByteBuffer.allocate(4);
+ f2b.putFloat(f);
+ bytes = f2b.array();
+
+ // byte to float
+ ByteBuffer b2f = ByteBuffer.wrap(bytes);
+ float actual_f = b2f.getFloat();
+ if (f != actual_f) throw new AssertionError("Floats not equal");
+
+ // short to byte
+ ByteBuffer sh2b = ByteBuffer.allocate(2);
+ sh2b.putShort(sh);
+ bytes = sh2b.array();
+
+ // byte to short
+ ByteBuffer b2sh = ByteBuffer.wrap(bytes);
+ short actual_sh = b2sh.getShort();
+ if (sh != actual_sh) throw new AssertionError("Shorts not equal");
+
+ // long to byte
+ ByteBuffer l2b = ByteBuffer.allocate(8);
+ l2b.putLong(l);
+ bytes = l2b.array();
+
+ // byte to long
+ ByteBuffer b2l = ByteBuffer.wrap(bytes);
+ long actual_l = b2l.getLong();
+ if (l != actual_l) throw new AssertionError("Longs not equal");
+
+ // String to byte
+ bytes = s.getBytes();
+
+ // byte to String
+ String actual_s = new String(bytes);
+ if (!s.equals(actual_s)) throw new AssertionError("Strings not equal");
+
+ // char to byte
+ ByteBuffer c2b = ByteBuffer.allocate(2);
+ c2b.putChar(c);
+ bytes = c2b.array();
+
+ // byte to char
+ ByteBuffer b2c = ByteBuffer.wrap(bytes);
+ char actual_c = b2c.getChar();
+ if (c != actual_c) throw new AssertionError("Floats not equal");
+ }
+
public static void main(String[] args) {
- /*
- // as soon as the cache of isInSafetyZone is invalidated, update the value of Robot.ShouldUseLowSpeed with its value
- [always] update Robot.ShouldUseLowSpeed with isInSafetyZone() using transformation();
-
- // when a (new?) value for ShouldUseLowSpeed is set, send it over via mqtt
- [always] write Robot.ShouldUseLowSpeed;
-
- // when an update of pose is read via mqtt, then update current position
- [always] read Joint.CurrentPosition using PoseToPosition;
-
- // PBPose is a datatype defined in protobuf
- PoseToPosition: map PBPose to Position using
- pose.position.x += sqrt(.5 * size.x)
- MAP round(2)
- x = x / 100
- IGNORE_IF_SAME
- ;
-
- --- using generated methods ---
- Joint j;
- j.getCurrentPosition().connectTo("/robot/joint2/pos");
-
- RobotArm r;
- // this should not be required
- r.getShouldUseLowSpeed().addObserver(j.getCurrentPosition());
- r.getShouldUseLowSpeed().connectTo("/robot/config/speed");
- */
+ testing();
+// createManualAST();
+ }
+
+ private static void createManualAST() {
Ros2Rag model = new Ros2Rag();
Program program = parseProgram(Paths.get("src", "test", "resources", "Example.relast"));
model.setProgram(program);
diff --git a/ros2rag.receiverstub/src/main/java/de/tudresden/inf/st/ros2rag/receiverstub/Main.java b/ros2rag.receiverstub/src/main/java/de/tudresden/inf/st/ros2rag/receiverstub/Main.java
index a7441813bec7621e12c1545afbda4d8fd0e0e109..2511df6e88b64f6c103745c907297852c8ab912e 100644
--- a/ros2rag.receiverstub/src/main/java/de/tudresden/inf/st/ros2rag/receiverstub/Main.java
+++ b/ros2rag.receiverstub/src/main/java/de/tudresden/inf/st/ros2rag/receiverstub/Main.java
@@ -1,12 +1,25 @@
package de.tudresden.inf.st.ros2rag.receiverstub;
+import com.beust.jcommander.JCommander;
+import com.beust.jcommander.Parameter;
+import com.fasterxml.jackson.databind.ObjectMapper;
import com.google.protobuf.InvalidProtocolBufferException;
+import config.Dataconfig;
+import config.Dataconfig.DataConfig;
import config.Robotconfig.RobotConfig;
import de.tudresden.inf.st.ros2rag.starter.ast.MqttUpdater;
+import de.tudresden.inf.st.ros2rag.starter.data.DataConfiguration;
+import de.tudresden.inf.st.ros2rag.starter.data.DataJoint;
import org.apache.logging.log4j.LogManager;
import org.apache.logging.log4j.Logger;
import panda.Linkstate.PandaLinkState;
+import java.io.File;
+import java.io.IOException;
+import java.nio.file.Paths;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.concurrent.CountDownLatch;
import java.util.concurrent.TimeUnit;
import java.util.concurrent.locks.Condition;
import java.util.concurrent.locks.Lock;
@@ -17,83 +30,103 @@ public class Main {
private static final Logger logger = LogManager.getLogger(Main.class);
public static void main(String[] args) throws Exception {
- String jointTopic, configTopic;
- if (args.length < 2) {
- jointTopic = "robot/joint1";
- configTopic = "robot/config";
- } else {
- jointTopic = args[0];
- configTopic = args[1];
- }
+ Main main = new Main();
+ ObjectMapper mapper = new ObjectMapper();
+ File configFile = new File(args[0]);
+ System.out.println("Using config file: " + configFile.getAbsolutePath());
+ DataConfiguration config = mapper.readValue(configFile, DataConfiguration.class);
+ main.run(config);
+ }
- final Lock finishLock = new ReentrantLock();
- final Condition finishCondition = finishLock.newCondition();
+ private void run(DataConfiguration config) throws IOException, InterruptedException {
+ final CountDownLatch finish = new CountDownLatch(1);
MqttUpdater receiver = new MqttUpdater("receiver stub");
- receiver.setHost("localhost", 1883);
+ receiver.setHost(config.mqttHost);
receiver.waitUntilReady(2, TimeUnit.SECONDS);
- receiver.newConnection(configTopic, bytes -> {
- try {
- logger.debug("Got a config message, parsing ...");
- RobotConfig robotConfig = RobotConfig.parseFrom(bytes);
- logger.info("robotConfig: speed = {}, loopTrajectory = {}, planningMode = {}",
- robotConfig.getSpeed(),
- robotConfig.getLoopTrajectory(),
- robotConfig.getPlanningMode().toString());
- } catch (InvalidProtocolBufferException e) {
- e.printStackTrace();
- }
- });
- receiver.newConnection(jointTopic, bytes -> {
- try {
- logger.debug("Got a joint message, parsing ...");
- PandaLinkState pls = PandaLinkState.parseFrom(bytes);
- PandaLinkState.Position tmpPosition = pls.getPos();
- PandaLinkState.Orientation tmpOrientation = pls.getOrient();
- PandaLinkState.TwistLinear tmpTwistLinear = pls.getTl();
- PandaLinkState.TwistAngular tmpTwistAngular = pls.getTa();
- logger.info("{}: pos({},{},{}), orient({},{},{},{})," +
- " twist-linear({},{},{}), twist-angular({},{},{})",
- pls.getName(),
- tmpPosition.getPositionX(),
- tmpPosition.getPositionY(),
- tmpPosition.getPositionZ(),
- tmpOrientation.getOrientationX(),
- tmpOrientation.getOrientationY(),
- tmpOrientation.getOrientationZ(),
- tmpOrientation.getOrientationW(),
- tmpTwistLinear.getTwistLinearX(),
- tmpTwistLinear.getTwistLinearY(),
- tmpTwistLinear.getTwistLinearZ(),
- tmpTwistAngular.getTwistAngularX(),
- tmpTwistAngular.getTwistAngularY(),
- tmpTwistAngular.getTwistAngularZ());
- } catch (InvalidProtocolBufferException e) {
- e.printStackTrace();
- }
- });
+ receiver.newConnection(config.robotConfigTopic, this::printRobotConfig);
+ receiver.newConnection(config.dataConfigTopic, this::printDataConfig);
+ for (DataJoint joint : config.joints) {
+ receiver.newConnection(joint.topic, this::printPandaLinkState);
+ }
+
receiver.newConnection("components", bytes -> {
String message = new String(bytes);
logger.info("Components: {}", message);
});
+
receiver.newConnection("receiver", bytes -> {
String message = new String(bytes);
if (message.equals("exit")) {
- try {
- finishLock.lock();
- finishCondition.signal();
- } finally {
- finishLock.unlock();
- }
+ finish.countDown();
}
});
- try {
- finishLock.lock();
- finishCondition.await();
- } finally {
- finishLock.unlock();
+
+ Runtime.getRuntime().addShutdownHook(new Thread(receiver::close));
+ if (config.exitAfterSeconds > 0) {
+ finish.await(config.exitAfterSeconds, TimeUnit.SECONDS);
+ } else {
+ finish.await();
}
receiver.close();
- Runtime.getRuntime().addShutdownHook(new Thread(receiver::close));
}
+
+ private void printPandaLinkState(byte[] bytes) {
+ try {
+ logger.debug("Got a joint message, parsing ...");
+ PandaLinkState pls = PandaLinkState.parseFrom(bytes);
+ PandaLinkState.Position tmpPosition = pls.getPos();
+ PandaLinkState.Orientation tmpOrientation = pls.getOrient();
+ PandaLinkState.TwistLinear tmpTwistLinear = pls.getTl();
+ PandaLinkState.TwistAngular tmpTwistAngular = pls.getTa();
+ logger.info("{}: pos({},{},{}), orient({},{},{},{})," +
+ " twist-linear({},{},{}), twist-angular({},{},{})",
+ pls.getName(),
+ tmpPosition.getPositionX(),
+ tmpPosition.getPositionY(),
+ tmpPosition.getPositionZ(),
+ tmpOrientation.getOrientationX(),
+ tmpOrientation.getOrientationY(),
+ tmpOrientation.getOrientationZ(),
+ tmpOrientation.getOrientationW(),
+ tmpTwistLinear.getTwistLinearX(),
+ tmpTwistLinear.getTwistLinearY(),
+ tmpTwistLinear.getTwistLinearZ(),
+ tmpTwistAngular.getTwistAngularX(),
+ tmpTwistAngular.getTwistAngularY(),
+ tmpTwistAngular.getTwistAngularZ());
+ } catch (InvalidProtocolBufferException e) {
+ e.printStackTrace();
+ }
+ }
+
+ private void printRobotConfig(byte[] bytes) {
+ try {
+ logger.debug("Got a robotConfig message, parsing ...");
+ RobotConfig robotConfig = RobotConfig.parseFrom(bytes);
+ logger.info("robotConfig: speed = {}, loopTrajectory = {}, planningMode = {}",
+ robotConfig.getSpeed(),
+ robotConfig.getLoopTrajectory(),
+ robotConfig.getPlanningMode().toString());
+ } catch (InvalidProtocolBufferException e) {
+ e.printStackTrace();
+ }
+ }
+
+ private void printDataConfig(byte[] bytes) {
+ try {
+ logger.debug("Got a dataConfig message, parsing ...");
+ DataConfig dataConfig = DataConfig.parseFrom(bytes);
+ logger.info("dataConfig: position = {}, orientation = {}, twistLinear = {}, twistAngular = {}, publishRate = {}",
+ dataConfig.getEnablePosition(),
+ dataConfig.getEnableOrientation(),
+ dataConfig.getEnableTwistLinear(),
+ dataConfig.getEnableTwistAngular(),
+ dataConfig.getPublishRate());
+ } catch (InvalidProtocolBufferException e) {
+ e.printStackTrace();
+ }
+
+ }
+
}
diff --git a/ros2rag.starter/build.gradle b/ros2rag.starter/build.gradle
index 3bf47eb898012149b48143ae32daf40945650d62..42aa7ecc0de7c5201e7847f41d607a79e8cbc1e6 100644
--- a/ros2rag.starter/build.gradle
+++ b/ros2rag.starter/build.gradle
@@ -4,7 +4,7 @@ apply plugin: 'com.google.protobuf'
sourceCompatibility = 1.8
-mainClassName = 'de.tudresden.inf.st.ros2rag.starter.Main'
+mainClassName = 'de.tudresden.inf.st.ros2rag.starter.StarterMain'
repositories {
jcenter()
@@ -23,7 +23,7 @@ configurations {
}
sourceSets.main.java.srcDir "src/gen/java"
-jar.manifest.attributes('Main-Class': 'de.tudresden.inf.st.ros2rag.starter.Main')
+jar.manifest.attributes('Main-Class': 'de.tudresden.inf.st.ros2rag.starter.StarterMain')
dependencies {
implementation project (':ros2rag.base')
diff --git a/ros2rag.starter/src/main/jastadd/Definitions.ros2rag b/ros2rag.starter/src/main/jastadd/Definitions.ros2rag
index 5317f5225ba755abc87a5f38978ed681ed078032..da9ce33855f7e8cb4a17bf27fa930b407e84b066 100644
--- a/ros2rag.starter/src/main/jastadd/Definitions.ros2rag
+++ b/ros2rag.starter/src/main/jastadd/Definitions.ros2rag
@@ -26,5 +26,7 @@ LinkStateToIntPosition maps panda.Linkstate.PandaLinkState pls to IntPosition {:
CreateSpeedMessage maps double speed to config.Robotconfig.RobotConfig {:
return config.Robotconfig.RobotConfig.newBuilder()
.setSpeed(speed)
+ .setLoopTrajectory(true)
+ .setPlanningMode(config.Robotconfig.RobotConfig.PlanningMode.CARTESIAN)
.build();
:}
diff --git a/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/Main.java b/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java
similarity index 58%
rename from ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/Main.java
rename to ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java
index 81fd5bc7052ee2ad4d832b49bcf76734eed86949..f6939a38cc4d1f02a7a8a4c81575eec82a936feb 100644
--- a/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/Main.java
+++ b/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java
@@ -1,9 +1,14 @@
package de.tudresden.inf.st.ros2rag.starter;
+import com.fasterxml.jackson.databind.ObjectMapper;
+import config.Dataconfig;
import de.tudresden.inf.st.ros2rag.starter.ast.*;
+import de.tudresden.inf.st.ros2rag.starter.data.DataConfiguration;
+import de.tudresden.inf.st.ros2rag.starter.data.DataJoint;
import org.apache.logging.log4j.LogManager;
import org.apache.logging.log4j.Logger;
+import java.io.File;
import java.io.IOException;
import java.util.concurrent.CountDownLatch;
import java.util.concurrent.TimeUnit;
@@ -13,47 +18,29 @@ import java.util.concurrent.TimeUnit;
*
* @author rschoene - Initial contribution
*/
-public class Main {
+public class StarterMain {
- private static final Logger logger = LogManager.getLogger(Main.class);
+ private static final Logger logger = LogManager.getLogger(StarterMain.class);
+ private MqttUpdater mainHandler;
+ private Model model;
- public static void main(String[] args) throws IOException, InterruptedException {
- // parse arguments
- final String mqttHost;
- if (args.length > 0) {
- mqttHost = args[0];
- } else {
- mqttHost = "localhost";
- }
-
- /* assumed configuration:
- panda_ground: ground-plate
- panda_link_0: link_0 of the panda
- panda_link_1: link_1 of the panda
- panda_link_2: link_2 of the panda
- panda_link_3: link_3 of the panda
- panda_link_4: link_4 of the panda
- panda_link_5: link_5 of the panda
- panda_link_6: link_6 of the panda
- panda_link_7: link_7 of the panda (end effector)
- panda_link_8: link_8 of the panda (left finger)
- panda_link_9: link_9 of the panda (right finger)
- */
- final int numberOfJoints = 10;
- final int endEffectorIndex = 7;
- final String jointTopicFormat = "panda_link_%d";
- final String configTopic = "robotconfig";
+ public void run(String[] args) throws IOException, InterruptedException {
+ File configFile = new File(args[0]);
final int[][] safetyZoneCoordinates = {
- { 0, 0, 0},
+ {0, 0, 0},
{-1, 0, 0},
- { 1, 0, 0}
+ {1, 0, 0}
};
// --- No configuration below this line ---
- Model model = new Model();
- model.MqttSetHost(mqttHost);
+ ObjectMapper mapper = new ObjectMapper();
+ System.out.println("Using config file: " + configFile.getAbsolutePath());
+ DataConfiguration config = mapper.readValue(configFile, DataConfiguration.class);
+
+ model = new Model();
+ model.MqttSetHost(config.mqttHost);
ZoneModel zoneModel = new ZoneModel();
zoneModel.setSize(makePosition(1, 1, 1));
@@ -69,45 +56,58 @@ public class Main {
RobotArm robotArm = new RobotArm();
model.setRobotArm(robotArm);
- for (int jointIndex = 0; jointIndex < numberOfJoints; jointIndex++) {
+ for (DataJoint dataJoint : config.joints) {
final Joint jointOrEndEffector;
- if (jointIndex == endEffectorIndex) {
+ if (dataJoint.isEndEffector) {
EndEffector endEffector = new EndEffector();
- endEffector.setName("gripper");
robotArm.setEndEffector(endEffector);
jointOrEndEffector = endEffector;
} else {
Joint joint = new Joint();
- joint.setName("joint" + jointIndex);
robotArm.addJoint(joint);
jointOrEndEffector = joint;
}
+ jointOrEndEffector.setName(dataJoint.name);
jointOrEndEffector.setCurrentPosition(makePosition(0, 0, 0));
robotArm.addDependency1(jointOrEndEffector);
- jointOrEndEffector.connectCurrentPosition(String.format(jointTopicFormat, jointIndex));
+ jointOrEndEffector.connectCurrentPosition(dataJoint.topic);
}
- robotArm.connectAppropriateSpeed(configTopic, true);
+ robotArm.connectAppropriateSpeed(config.robotConfigTopic, true);
logStatus("Start", robotArm);
CountDownLatch exitCondition = new CountDownLatch(1);
logger.info("To print the current model states, send a message to the topic 'model'.");
- logger.info("To exit the system cleanly, send a message to the topic 'exit'.");
+ logger.info("To exit the system cleanly, send a message to the topic 'exit', or use Ctrl+C.");
- MqttUpdater mainHandler = new MqttUpdater("mainHandler");
- mainHandler.setHost(mqttHost, 1883);
+ mainHandler = new MqttUpdater("mainHandler");
+ mainHandler.setHost(config.mqttHost);
mainHandler.waitUntilReady(2, TimeUnit.SECONDS);
mainHandler.newConnection("exit", bytes -> exitCondition.countDown());
mainHandler.newConnection("model", bytes -> logStatus(new String(bytes), robotArm));
+ sendInitialDataConfig(mainHandler, config.dataConfigTopic);
+
+ Runtime.getRuntime().addShutdownHook(new Thread(this::close));
+
exitCondition.await();
- mainHandler.close();
- model.MqttCloseConnections();
+ this.close();
}
- private static void logStatus(String prefix, RobotArm robotArm) {
+ private void sendInitialDataConfig(MqttUpdater mainHandler, String dataConfigTopic) {
+ Dataconfig.DataConfig dataConfig = Dataconfig.DataConfig.newBuilder()
+ .setEnablePosition(true)
+ .setEnableOrientation(false)
+ .setEnableTwistAngular(false)
+ .setEnableTwistLinear(false)
+ .setPublishRate(200)
+ .build();
+ mainHandler.publish(dataConfigTopic, dataConfig.toByteArray());
+ }
+
+ private void logStatus(String prefix, RobotArm robotArm) {
StringBuilder sb = new StringBuilder(prefix).append("\n")
.append("robotArm.isInSafetyZone: ").append(robotArm.isInSafetyZone())
.append(", robotArm.getAppropriateSpeed = ").append(robotArm.getAppropriateSpeed()).append("\n");
@@ -122,4 +122,14 @@ public class Main {
private static IntPosition makePosition(int x, int y, int z) {
return IntPosition.of(x, y, z);
}
+
+ private void close() {
+ logger.info("Exiting ...");
+ mainHandler.close();
+ model.MqttCloseConnections();
+ }
+
+ public static void main(String[] args) throws IOException, InterruptedException {
+ new StarterMain().run(args);
+ }
}
diff --git a/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/data/DataConfiguration.java b/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/data/DataConfiguration.java
new file mode 100644
index 0000000000000000000000000000000000000000..b2ec3639dc485971c58a91b0cd4916b37e79c0b2
--- /dev/null
+++ b/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/data/DataConfiguration.java
@@ -0,0 +1,17 @@
+package de.tudresden.inf.st.ros2rag.starter.data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * Data class for initial configuration.
+ *
+ * @author rschoene - Initial contribution
+ */
+public class DataConfiguration {
+ public List<DataJoint> joints = new ArrayList<>();
+ public String robotConfigTopic;
+ public String dataConfigTopic;
+ public int exitAfterSeconds = 0;
+ public String mqttHost = "localhost";
+}
diff --git a/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/data/DataJoint.java b/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/data/DataJoint.java
new file mode 100644
index 0000000000000000000000000000000000000000..2431827d30a9742f0366283c39d1dc156b876da2
--- /dev/null
+++ b/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/data/DataJoint.java
@@ -0,0 +1,12 @@
+package de.tudresden.inf.st.ros2rag.starter.data;
+
+/**
+ * Data class to describe a joint.
+ *
+ * @author rschoene - Initial contribution
+ */
+public class DataJoint {
+ public String topic;
+ public String name;
+ public boolean isEndEffector = false;
+}
diff --git a/ros2rag.starter/src/main/resources/config.json b/ros2rag.starter/src/main/resources/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..af5e2b9835bd31e60418d97a8162f0c2fdb82215
--- /dev/null
+++ b/ros2rag.starter/src/main/resources/config.json
@@ -0,0 +1,16 @@
+{
+ "joints": [
+ {"name": "Joint0", "topic": "panda_link_0"},
+ {"name": "Joint1", "topic": "panda_link_1"},
+ {"name": "Joint2", "topic": "panda_link_2"},
+ {"name": "Joint3", "topic": "panda_link_3"},
+ {"name": "Joint4", "topic": "panda_link_4"},
+ {"name": "Joint5", "topic": "panda_link_5"},
+ {"name": "Joint6", "topic": "panda_link_6"},
+ {"name": "EndEffector", "topic": "panda_link_7", "isEndEffector": true},
+ {"name": "LeftFinger", "topic": "panda_link_8"},
+ {"name": "RightFinger", "topic": "panda_link_9"}
+ ],
+ "robotConfigTopic": "robotconfig",
+ "dataConfigTopic": "dataconfig"
+}