Update robot_models_node.cpp

src/robot_models_node.cpp

@@ -78,59 +78,45 @@
         o5g.p1 = {5.1, 18.3, 4.2};
 
         o9.c->robname="Robot FPE";
-        //o8.robname = "Robot FPE";
-        //o8.of = true;
+
         o9.c->of=true;
         o9.c->moving=false;
-        //o8.moving = false;
+
         o9.c->grasppos=true;
-        //o8.grasppos = true;
-        //o8.planninggrp = "Panda Teaching";
+
         o9.c->planninggrp= "Panda Teaching";
-        //o3.grippos = {12, 14, 18};
+
 
         o8.h->grippos= {12.1, 14.3, 18.2};
 
         o9.a->humannum = 1;
 
         o9.b1->name="Cube";
-        //o2.name = "Cube";
+
         o9.b1->size={5.2, 7.5, 9.1};
-        //o2.size = {5.2, 7.5, 9.1};
+        ;
         o9.b1->p1= {13.2, 14.1, 17.5};
-        //o2.p1 = {13.2, 14.1, 17.5};
 
-        // Using association relation quaternion
         o9.b1->x= 2.3;
         o9.b1->y = 1.2;
         o9.b1->z = 0.2;
         o9.b1->w = 0.1;
 
-        //o2.x = 2.3;
-        //o2.y = 1.2;
-        //o2.z = 0.2;
-        //o2.w = 0.1;
 
 
-        //o6.name = "Ball";
+
+
         o9.b2->name="Ball";
-        //o6.size = {1.3, 2.1, 3.2};
+
         o9.b2->size={1.3, 2.1, 3.2};
         o9.b2->p1= {12.5, 16.4, 17.3};
-        //o6.p1 = {12.5, 16.4, 17.3};
-        // Using association relation quaternion
+
         o9.b2->x= 1.1;
         o9.b2->y = 1.4;
         o9.b2->z = 1.6;
         o9.b2->w = 1.9;
 
-        //o6.x = 1.1;
-        //o6.y = 1.4;
-        //o6.z = 1.6;
-        //o6.w = 1.9;
 
-        //ros::Publisher turtle_vel
-             //=node.advertise<geometry_msgs::Twist>("turtle2/cmd_vel", 10);
 
         tf2_ros::Buffer tfBuffer;
         tf2_ros::TransformListener tfListener(tfBuffer);
@@ -163,71 +149,133 @@
 
                 }
 
-                //o5a.p1[0] = 0.0;
+                o5a.p1[0]=0.0;
+                o5a.p1[1]=0.0;
+                o5a.p1[2]=0.0;
+                o5b.p1[0]=0.0;
+                o5b.p1[1]=0.0;
+                o5b.p1[2]=0.0;
+                o5c.p1[0]=0.0;
+                o5c.p1[1]=0.0;
+                o5c.p1[2]=0.0;
+                o5d.p1[0]=0.0;
+                o5d.p1[1]=0.0;
+                o5d.p1[2]=0.0;
+                o5e.p1[0]=0.0;
+                o5e.p1[1]=0.0;
+                o5e.p1[2]=0.0;
+                o5f.p1[0]=0.0;
+                o5f.p1[1]=0.0;
+                o5f.p1[2]=0.0;
+                o5g.p1[0]=0.0;
+                o5g.p1[1]=0.0;
+                o5g.p1[2]=0.0;
+
                 o5a.p1[0]=transformStamped1.transform.translation.x;
                 o5a.p1[1]=transformStamped1.transform.translation.y;
                 o5a.p1[2]=transformStamped1.transform.translation.z;
-                //ROS_INFO("%f",&o5a.p1);
+                ROS_INFO_STREAM("panda_link1 Position is " <<" x = "<< o5a.p1[0] << ", y = "<< o5a.p1[1]<<", z = "<<o5a.p1[2]);
+
                 o5b.p1[0]=transformStamped2.transform.translation.x;
                 o5b.p1[1]=transformStamped2.transform.translation.y;
                 o5b.p1[2]=transformStamped2.transform.translation.z;
+                ROS_INFO_STREAM("panda_link2 Position is " <<" x = "<< o5b.p1[0] << ", y = "<< o5b.p1[1]<<", z = "<<o5b.p1[2]);
 
                 o5c.p1[0]=transformStamped3.transform.translation.x;
                 o5c.p1[1]=transformStamped3.transform.translation.y;
                 o5c.p1[2]=transformStamped3.transform.translation.z;
+                ROS_INFO_STREAM("panda_link3 Position is " <<" x = "<< o5c.p1[0] << ", y = "<< o5c.p1[1]<<", z = "<<o5c.p1[2]);
 
                 o5d.p1[0]=transformStamped4.transform.translation.x;
                 o5d.p1[1]=transformStamped4.transform.translation.y;
                 o5d.p1[2]=transformStamped4.transform.translation.z;
+                ROS_INFO_STREAM("panda_link4 Position is " <<" x = "<< o5d.p1[0] << ", y = "<< o5d.p1[1]<<", z = "<<o5d.p1[2]);
 
                 o5e.p1[0]=transformStamped5.transform.translation.x;
                 o5e.p1[1]=transformStamped5.transform.translation.y;
                 o5e.p1[2]=transformStamped5.transform.translation.z;
+                ROS_INFO_STREAM("panda_link5 Position is " <<" x = "<< o5e.p1[0] << ", y = "<< o5e.p1[1]<<", z = "<<o5e.p1[2]);
 
                 o5f.p1[0]=transformStamped6.transform.translation.x;
                 o5f.p1[1]=transformStamped6.transform.translation.y;
                 o5f.p1[2]=transformStamped6.transform.translation.z;
+                ROS_INFO_STREAM("panda_link6 Position is " <<" x = "<< o5f.p1[0] << ", y = "<< o5f.p1[1]<<", z = "<<o5f.p1[2]);
 
                 o5g.p1[0]=transformStamped7.transform.translation.x;
                 o5g.p1[1]=transformStamped7.transform.translation.y;
                 o5g.p1[2]=transformStamped7.transform.translation.z;
-
+                ROS_INFO_STREAM("panda_link7 Position is " <<" x = "<< o5g.p1[0] << ", y = "<< o5g.p1[1]<<", z = "<<o5g.p1[2]);
+
+                o5a.or2.w=0.0;
+                o5a.or2.x=0.0;
+                o5a.or2.y=0.0;
+                o5a.or2.z=0.0;
+                o5b.or2.w=0.0;
+                o5b.or2.x=0.0;
+                o5b.or2.y=0.0;
+                o5b.or2.z=0.0;
+                o5c.or2.w=0.0;
+                o5c.or2.x=0.0;
+                o5c.or2.y=0.0;
+                o5c.or2.z=0.0;
+                o5d.or2.w=0.0;
+                o5d.or2.x=0.0;
+                o5d.or2.y=0.0;
+                o5d.or2.z=0.0;
+                o5e.or2.w=0.0;
+                o5e.or2.x=0.0;
+                o5e.or2.y=0.0;
+                o5e.or2.z=0.0;
+                o5f.or2.w=0.0;
+                o5f.or2.x=0.0;
+                o5f.or2.y=0.0;
+                o5f.or2.z=0.0;
+                o5g.or2.w=0.0;
+                o5g.or2.x=0.0;
+                o5g.or2.y=0.0;
+                o5g.or2.z=0.0;
 
                 o5a.or2.w=transformStamped1.transform.rotation.w;
                 o5a.or2.x=transformStamped1.transform.rotation.x;
                 o5a.or2.y=transformStamped1.transform.rotation.y;
                 o5a.or2.z=transformStamped1.transform.rotation.z;
+                ROS_INFO_STREAM("panda_link1 Orientation is " <<" w = "<< o5a.or2.w<<", x = "<<o5a.or2.x<<", y = "<<o5a.or2.y<<", z = "<<o5a.or2.z);
 
                 o5b.or2.w=transformStamped2.transform.rotation.w;
                 o5b.or2.x=transformStamped2.transform.rotation.x;
                 o5b.or2.y=transformStamped2.transform.rotation.y;
                 o5b.or2.z=transformStamped2.transform.rotation.z;
+                ROS_INFO_STREAM("panda_link2 Orientation is " <<" w = "<< o5b.or2.w<<", x = "<<o5b.or2.x<<", y = "<<o5b.or2.y<<", z = "<<o5b.or2.z);
 
                 o5c.or2.w=transformStamped3.transform.rotation.w;
                 o5c.or2.x=transformStamped3.transform.rotation.x;
                 o5c.or2.y=transformStamped3.transform.rotation.y;
                 o5c.or2.z=transformStamped3.transform.rotation.z;
+                ROS_INFO_STREAM("panda_link3 Orientation is " <<" w = "<< o5c.or2.w<<", x = "<<o5c.or2.x<<", y = "<<o5c.or2.y<<", z = "<<o5c.or2.z);
 
                 o5d.or2.w=transformStamped4.transform.rotation.w;
                 o5d.or2.x=transformStamped4.transform.rotation.x;
                 o5d.or2.y=transformStamped4.transform.rotation.y;
                 o5d.or2.z=transformStamped4.transform.rotation.z;
+                ROS_INFO_STREAM("panda_link4 Orientation is " <<" w = "<< o5d.or2.w<<", x = "<<o5d.or2.x<<", y = "<<o5d.or2.y<<", z = "<<o5d.or2.z);
 
                 o5e.or2.w=transformStamped5.transform.rotation.w;
                 o5e.or2.x=transformStamped5.transform.rotation.x;
                 o5e.or2.y=transformStamped5.transform.rotation.y;
                 o5e.or2.z=transformStamped5.transform.rotation.z;
+                ROS_INFO_STREAM("panda_link5 Orientation is " <<" w = "<< o5e.or2.w<<", x = "<<o5e.or2.x<<", y = "<<o5e.or2.y<<", z = "<<o5e.or2.z);
 
                 o5f.or2.w=transformStamped6.transform.rotation.w;
                 o5f.or2.x=transformStamped6.transform.rotation.x;
                 o5f.or2.y=transformStamped6.transform.rotation.y;
                 o5f.or2.z=transformStamped6.transform.rotation.z;
+                ROS_INFO_STREAM("panda_link6 Orientation is " <<" w = "<< o5f.or2.w<<", x = "<<o5f.or2.x<<", y = "<<o5f.or2.y<<", z = "<<o5f.or2.z);
 
                 o5g.or2.w=transformStamped7.transform.rotation.w;
                 o5g.or2.x=transformStamped7.transform.rotation.x;
                 o5g.or2.y=transformStamped7.transform.rotation.y;
                 o5g.or2.z=transformStamped7.transform.rotation.z;
-
+                ROS_INFO_STREAM("panda_link7 Orientation is " <<" w = "<< o5g.or2.w<<", x = "<<o5g.or2.x<<", y = "<<o5g.or2.y<<", z = "<<o5g.or2.z);
 
               }
             rate.sleep();