diff --git a/src/appmod.cpp b/src/appmod.cpp new file mode 100644 index 0000000000000000000000000000000000000000..f234a7269c8a9a1f51e4bdd7b049d5c4544a4beb --- /dev/null +++ b/src/appmod.cpp @@ -0,0 +1,313 @@ +#include <ros/ros.h> +#include "datalink/abstractobject.h" +#include "datalink/graspobject.h" +#include "datalink/hand.h" +#include "datalink/humanspace.h" +#include "datalink/joint.h" +#include "datalink/obstacle.h" +#include "datalink/robot.h" +#include "datalink/robotfpe.h" +#include "datalink/world.h" +#include "datalink/worldobject.h" +#include "datalink/quaternion.h" +#include <vector> +#include <iostream> +#include <tf2_ros/transform_listener.h> +#include <geometry_msgs/TransformStamped.h> +#include <geometry_msgs/PoseStamped.h> +#include <tf2_ros/static_transform_broadcaster.h> +#include <cstdio> +#include <tf2/LinearMath/Quaternion.h> +#include "tf2_ros/message_filter.h" +#include "message_filters/subscriber.h" +#include "tf2_geometry_msgs/tf2_geometry_msgs.h" +#include "geometry_msgs/PointStamped.h" +#include <tf2_ros/transform_broadcaster.h> +#include <tf2/LinearMath/Quaternion.h> +#include <moveit/move_group_interface/move_group_interface.h> +#include <moveit/planning_scene_interface/planning_scene_interface.h> +#include <moveit_msgs/CollisionObject.h> +#include <moveit_visual_tools/moveit_visual_tools.h> +#include <moveit/trajectory_processing/iterative_time_parameterization.h> +#include <trajectory_msgs/JointTrajectoryPoint.h> + +int main(int argc, char** argv) { + + ros::init(argc, argv, "Application Model"); + ros::NodeHandle node_handle; + ros::AsyncSpinner spinner(1); + spinner.start(); + + // setup the planning environment + static const std::string PLANNING_GROUP = "panda_arm"; + moveit::planning_interface::MoveGroupInterface move_group(PLANNING_GROUP); + moveit::planning_interface::PlanningSceneInterface planning_scene_interface; + + ros::Duration(3.0).sleep(); + + move_group.setStartStateToCurrentState(); + + geometry_msgs::Pose another_pose; + another_pose.orientation.w = 1.0; + another_pose.position.x = 0.4; + another_pose.position.y = -0.4; + another_pose.position.z = 0.9; + move_group.setPoseTarget(another_pose); + + moveit::planning_interface::MoveGroupInterface::Plan my_plan; + bool success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS); + ROS_INFO("Visualizing plan %s", success ? "" : "FAILED"); + + // Move the (simulated) robot in gazebo + move_group.move(); + + if(another_pose.position.z==0.9) + ROS_INFO(" THE ROBOT HAS MOVED TO POSITION AS INTENDED "); + else + ROS_INFO("THE ROBOT HAS NOT MOVED TO THE POSITION AS INTENDED"); + + + ros::shutdown(); + + + abstractobject o1; + graspobject o2; + hand o3; + humanspace o4; +/* + joint o5a; + joint o5b; + joint o5c; + joint o5d; + joint o5e; + joint o5f; + joint o5g; +*/ + obstacle o6; + robot o7; + robotfpe o8; + world o9; + worldobject o10; + + int yx=0; + o7.jo[++yx]->name= "panda_link1"; + o7.jo[++yx]->name= "panda_link2"; + o7.jo[++yx]->name= "panda_link3"; + o7.jo[++yx]->name= "panda_link4"; + o7.jo[++yx]->name= "panda_link5"; + o7.jo[++yx]->name= "panda_link6"; + o7.jo[++yx]->name= "panda_link7"; + + /* o7.jo1->or2= {1.2,5.3,6.5,7.4}; + o7.jo2->or2= {2.5,3.6,5.8,4.9}; + o7.jo3->or2= {5.1,1.2,9.9,6.8}; + o7.jo4->or2= {6.3,3.4,8.5,9.6}; + o7.jo5->or2= {8.2,2.6,7.9,5.5}; + o7.jo6->or2= {7.3,4.4,6.7,4.0}; + o7.jo7->or2= {7.3,4.4,6.7,4.0}; + + o7.jo1->p1= {1.3, 10.1, 9.4}; + o7.jo2->p1= {14.7, 11.3, 6.5}; + o7.jo3->p1= {4.9, 13.8, 7.7}; + o7.jo4->p1= {2.4, 12.5, 1.6}; + o7.jo5->p1= {3.1, 16.2, 5.3}; + o7.jo6->p1= {11.5, 15.4, 3.4}; + o7.jo7->p1= {5.1, 18.3, 4.2}; +*/ + o9.c->robname="Robot FPE"; + o9.c->of=true; + o9.c->moving=false; + o9.c->grasppos=true; + o9.c->planninggrp= "Panda Teaching"; + + o8.h->grippos= {12.1, 14.3, 18.2}; + o3.grippos={1.1,2.3,2.1}; + + o9.a->humannum = 1; + o9.b1->name="Cube"; + o9.b1->size={5.2, 7.5, 9.1}; + o9.b1->p1= {13.2, 14.1, 17.5}; + o9.b1->x= 2.3; + o9.b1->y = 1.2; + o9.b1->z = 0.2; + o9.b1->w = 0.1; + o9.b2->name="Ball"; + o9.b2->size={1.3, 2.1, 3.2}; + o9.b2->p1= {12.5, 16.4, 17.3}; + o9.b2->x= 1.1; + o9.b2->y = 1.4; + o9.b2->z = 1.6; + o9.b2->w = 1.9; + + tf2_ros::Buffer tfBuffer; + tf2_ros::TransformListener tfListener(tfBuffer); + + ros::Rate rate(10); + int i=1; + int h=1; + while (node_handle.ok()) { + //for (const auto &topic : ROSNODE1::topics) + { + geometry_msgs::TransformStamped transformStamped[7]; + + try { transformStamped[i++] = tfBuffer.lookupTransform("world", o7.jo[h++]->name, ros::Time(0)); + } catch (tf2::TransformException &ex) { + ROS_WARN("%s", ex.what()); + ros::Duration(0.1).sleep(); + continue; + } + if(h==7) + ROS_INFO(" TEST CASE SUCCESSFUL. ROBOT FPE HAS 7 JOINTS "); + else + ROS_ERROR(" TEST CASE NOT SUCCESSFUL. ROBOT FPE HAS WRONG NUMBER OF JOINTS "); + + // TEST CASES FOR ALL AGGREGATION RELATIONS POINTERS + if(o7.jo[1]||o7.jo[2]||o7.jo[3]||o7.jo[4]||o7.jo[5]||o7.jo[6]||o7.jo[7]== nullptr) + ROS_ERROR("ERROR IN JOINTS POINTER AGGREGATION RELATIONSHIP"); + if(o8.h==nullptr) + ROS_ERROR("ERROR IN HAND POINTER IN ROBOT FPE CLASS AGGREGATION RELATION"); + if(o9.a== nullptr) + ROS_ERROR("ERROR IN POINTER HUMANSPACE AGGREGATION"); + if(o9.c== nullptr) + ROS_ERROR("ERROR IN ROBOT CLASS AGGREGATION"); + if(o9.b1== nullptr) + ROS_ERROR("ERROR IN ABSTRACT OBJECT CLASS AGGREGATION RELATION"); + if(o9.b2== nullptr) + ROS_ERROR("ERROR IN ABSTRACT OBJECT CLASS AGGREGATION RELATION"); + + +/* o7.jo1->p1[0]=0.0; + o7.jo1->p1[1]=0.0; + o7.jo1->p1[2]=0.0; + o7.jo2->p1[0]=0.0; + o7.jo2->p1[1]=0.0; + o7.jo2->p1[2]=0.0; + o7.jo3->p1[0]=0.0; + o7.jo3->p1[1]=0.0; + o7.jo3->p1[2]=0.0; + o7.jo4->p1[0]=0.0; + o7.jo4->p1[1]=0.0; + o7.jo4->p1[2]=0.0; + o7.jo5->p1[0]=0.0; + o7.jo5->p1[1]=0.0; + o7.jo5->p1[2]=0.0; + o7.jo6->p1[0]=0.0; + o7.jo6->p1[1]=0.0; + o7.jo6->p1[2]=0.0; + o7.jo7->p1[0]=0.0; + o7.jo7->p1[1]=0.0; + o7.jo7->p1[2]=0.0; + + o7.jo1->p1[0]=transformStamped1.transform.translation.x; + o7.jo1->p1[1]=transformStamped1.transform.translation.y; + o7.jo1->p1[2]=transformStamped1.transform.translation.z; + ROS_INFO_STREAM("panda_link1 Position is " <<" x = "<< o7.jo1->p1[0] << ", y = "<< o7.jo1->p1[1]<<", z = "<<o7.jo1->p1[2]); + + o7.jo2->p1[0]=transformStamped2.transform.translation.x; + o7.jo2->p1[1]=transformStamped2.transform.translation.y; + o7.jo2->p1[2]=transformStamped2.transform.translation.z; + ROS_INFO_STREAM("panda_link2 Position is " <<" x = "<< o7.jo2->p1[0] << ", y = "<< o7.jo2->p1[1]<<", z = "<<o7.jo2->p1[2]); + + o7.jo3->p1[0]=transformStamped3.transform.translation.x; + o7.jo3->p1[1]=transformStamped3.transform.translation.y; + o7.jo3->p1[2]=transformStamped3.transform.translation.z; + ROS_INFO_STREAM("panda_link3 Position is " <<" x = "<< o7.jo3->p1[0] << ", y = "<< o7.jo3->p1[1]<<", z = "<<o7.jo3->p1[2]); + + o7.jo4->p1[0]=transformStamped4.transform.translation.x; + o7.jo4->p1[1]=transformStamped4.transform.translation.y; + o7.jo4->p1[2]=transformStamped4.transform.translation.z; + ROS_INFO_STREAM("panda_link4 Position is " <<" x = "<< o7.jo4->p1[0] << ", y = "<< o7.jo4->p1[1]<<", z = "<<o7.jo4->p1[2]); + + o7.jo5->p1[0]=transformStamped5.transform.translation.x; + o7.jo5->p1[1]=transformStamped5.transform.translation.y; + o7.jo5->p1[2]=transformStamped5.transform.translation.z; + ROS_INFO_STREAM("panda_link5 Position is " <<" x = "<< o7.jo5->p1[0] << ", y = "<< o7.jo5->p1[1]<<", z = "<<o7.jo5->p1[2]); + + o7.jo6->p1[0]=transformStamped6.transform.translation.x; + o7.jo6->p1[1]=transformStamped6.transform.translation.y; + o7.jo6->p1[2]=transformStamped6.transform.translation.z; + ROS_INFO_STREAM("panda_link6 Position is " <<" x = "<< o7.jo6->p1[0] << ", y = "<< o7.jo6->p1[1]<<", z = "<<o7.jo6->p1[2]); + + o7.jo7->p1[0]=transformStamped7.transform.translation.x; + o7.jo7->p1[0]=transformStamped7.transform.translation.y; + o7.jo7->p1[0]=transformStamped7.transform.translation.z; + ROS_INFO_STREAM("panda_link7 Position is " <<" x = "<< o7.jo7->p1[0] << ", y = "<< o7.jo7->p1[1]<<", z = "<<o7.jo7->p1[2]); + + o7.jo1->or2.w=0.0; + o7.jo1->or2.x=0.0; + o7.jo1->or2.y=0.0; + o7.jo1->or2.z=0.0; + o7.jo2->or2.w=0.0; + o7.jo2->or2.x=0.0; + o7.jo2->or2.y=0.0; + o7.jo2->or2.z=0.0; + o7.jo3->or2.w=0.0; + o7.jo3->or2.x=0.0; + o7.jo3->or2.y=0.0; + o7.jo3->or2.z=0.0; + o7.jo4->or2.w=0.0; + o7.jo4->or2.x=0.0; + o7.jo4->or2.y=0.0; + o7.jo4->or2.z=0.0; + o7.jo5->or2.w=0.0; + o7.jo5->or2.x=0.0; + o7.jo5->or2.y=0.0; + o7.jo5->or2.z=0.0; + o7.jo6->or2.w=0.0; + o7.jo6->or2.x=0.0; + o7.jo6->or2.y=0.0; + o7.jo6->or2.z=0.0; + o7.jo7->or2.w=0.0; + o7.jo7->or2.x=0.0; + o7.jo7->or2.y=0.0; + o7.jo7->or2.z=0.0; + + o7.jo1->or2.w=transformStamped1.transform.rotation.w; + o7.jo1->or2.x=transformStamped1.transform.rotation.x; + o7.jo1->or2.y=transformStamped1.transform.rotation.y; + o7.jo1->or2.z=transformStamped1.transform.rotation.z; + ROS_INFO_STREAM("panda_link1 Orientation is " <<" w = "<< o7.jo1->or2.w<<", x = "<<o7.jo1->or2.x<<", y = "<<o7.jo1->or2.y<<", z = "<<o7.jo1->or2.z); + + o7.jo2->or2.w=transformStamped2.transform.rotation.w; + o7.jo2->or2.x=transformStamped2.transform.rotation.x; + o7.jo2->or2.y=transformStamped2.transform.rotation.y; + o7.jo2->or2.z=transformStamped2.transform.rotation.z; + ROS_INFO_STREAM("panda_link2 Orientation is " <<" w = "<< o7.jo2->or2.w<<", x = "<< o7.jo2->or2.x<<", y = "<< o7.jo2->or2.y<<", z = "<< o7.jo2->or2.z); + + o7.jo3->or2.w=transformStamped3.transform.rotation.w; + o7.jo3->or2.x=transformStamped3.transform.rotation.x; + o7.jo3->or2.y=transformStamped3.transform.rotation.y; + o7.jo3->or2.z=transformStamped3.transform.rotation.z; + ROS_INFO_STREAM("panda_link3 Orientation is " <<" w = "<< o7.jo3->or2.w<<", x = "<<o7.jo3->or2.x<<", y = "<<o7.jo3->or2.y<<", z = "<<o7.jo3->or2.z); + + o7.jo4->or2.w=transformStamped4.transform.rotation.w; + o7.jo4->or2.x=transformStamped4.transform.rotation.x; + o7.jo4->or2.y=transformStamped4.transform.rotation.y; + o7.jo4->or2.z=transformStamped4.transform.rotation.z; + ROS_INFO_STREAM("panda_link4 Orientation is " <<" w = "<<o7.jo4->or2.w<<", x = "<<o7.jo4->or2.x<<", y = "<<o7.jo4->or2.y<<", z = "<<o7.jo4->or2.z); + + o7.jo5->or2.w=transformStamped5.transform.rotation.w; + o7.jo5->or2.x=transformStamped5.transform.rotation.x; + o7.jo5->or2.y=transformStamped5.transform.rotation.y; + o7.jo5->or2.z=transformStamped5.transform.rotation.z; + ROS_INFO_STREAM("panda_link5 Orientation is " <<" w = "<< o7.jo5->or2.w<<", x = "<<o7.jo5->or2.x<<", y = "<<o7.jo5->or2.y<<", z = "<<o7.jo5->or2.z); + + o7.jo6->or2.w=transformStamped6.transform.rotation.w; + o7.jo6->or2.x=transformStamped6.transform.rotation.x; + o7.jo6->or2.y=transformStamped6.transform.rotation.y; + o7.jo6->or2.z=transformStamped6.transform.rotation.z; + ROS_INFO_STREAM("panda_link6 Orientation is " <<" w = "<< o7.jo6->or2.w<<", x = "<<o7.jo6->or2.x<<", y = "<<o7.jo6->or2.y<<", z = "<<o7.jo6->or2.z); + + o7.jo7->or2.w=transformStamped7.transform.rotation.w; + o7.jo7->or2.x=transformStamped7.transform.rotation.x; + o7.jo7->or2.y=transformStamped7.transform.rotation.y; + o7.jo7->or2.z=transformStamped7.transform.rotation.z; + ROS_INFO_STREAM("panda_link7 Orientation is " <<" w = "<<o7.jo7->or2.w<<", x = "<<o7.jo7->or2.x<<", y = "<<o7.jo7->or2.y<<", z = "<<o7.jo7->or2.z); +*/ + } + rate.sleep(); + } + + +return 0; +}