diff --git a/CMakeLists.txt b/CMakeLists.txt index 2ee1526a4fdebbc9dcc8014a6db8f992e3950655..c1ec4c8f41d7acd1f91bb1058a0da2d445b77c49 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -13,10 +13,6 @@ find_package(catkin REQUIRED COMPONENTS moveit_core moveit_visual_tools moveit_ros_planning_interface - roscpp - rospy - std_msgs - genmsg ) ## System dependencies are found with CMake's conventions @@ -65,8 +61,6 @@ find_package(catkin REQUIRED COMPONENTS # Service1.srv # Service2.srv # ) -add_message_files(DIRECTORY msg FILES Num.msg) -add_service_files(DIRECTORY srv FILES AddTwoInts.srv) ## Generate actions in the 'action' folder # add_action_files( # FILES @@ -79,7 +73,7 @@ add_service_files(DIRECTORY srv FILES AddTwoInts.srv) # DEPENDENCIES # std_msgs # Or other packages containing msgs # ) -generate_messages(DEPENDENCIES std_msgs) + ################################################ ## Declare ROS dynamic reconfigure parameters ## ################################################ @@ -200,9 +194,7 @@ add_executable(worldsafety src/datalink/worldobject.h src/datalink/quaternion.h ) -add_executable(talker - src/talker.cpp - ) + ## Rename C++ executable without prefix ## The above recommended prefix causes long target names, the following renames the @@ -217,7 +209,7 @@ add_executable(talker ## Specify libraries to link a library or executable target against target_link_libraries(robot_models_node ${catkin_LIBRARIES} ) target_link_libraries(worldsafety ${catkin_LIBRARIES} ) -target_link_libraries(talker ${catkin_LIBRARIES} ) + ##target_link_libraries(safetytest ${catkin_LIBRARIES} ) #add_dependencies(robot_models_node ${catkin_LIBRARIES}) diff --git a/cmake-build-debug/CMakeFiles/Makefile.cmake b/cmake-build-debug/CMakeFiles/Makefile.cmake index c4159cf89842278ec8a6de893e948b29a13d45c3..80fa80744fd0b6cf03d436df2afd91b52f235837 100644 --- a/cmake-build-debug/CMakeFiles/Makefile.cmake +++ b/cmake-build-debug/CMakeFiles/Makefile.cmake @@ -325,7 +325,6 @@ set(CMAKE_MAKEFILE_PRODUCTS # Dependency information for all targets: set(CMAKE_DEPEND_INFO_FILES "CMakeFiles/worldsafety.dir/DependInfo.cmake" - "CMakeFiles/safetytest.dir/DependInfo.cmake" "CMakeFiles/moveit_ros_manipulation_gencfg.dir/DependInfo.cmake" "CMakeFiles/moveit_ros_planning_gencfg.dir/DependInfo.cmake" "CMakeFiles/graph_msgs_generate_messages_nodejs.dir/DependInfo.cmake" diff --git a/cmake-build-debug/CMakeFiles/Makefile2 b/cmake-build-debug/CMakeFiles/Makefile2 index f048ac584ffd09b748422cd280ec939497a524e2..e29cb9071208968784705261f974d08104ec4aa5 100644 --- a/cmake-build-debug/CMakeFiles/Makefile2 +++ b/cmake-build-debug/CMakeFiles/Makefile2 @@ -54,7 +54,6 @@ CMAKE_BINARY_DIR = /home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debu # The main recursive "all" target. all: CMakeFiles/worldsafety.dir/all -all: CMakeFiles/safetytest.dir/all all: CMakeFiles/robot_models_node.dir/all all: gtest/all @@ -62,7 +61,6 @@ all: gtest/all # The main recursive "clean" target. 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-/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/CMakeFiles/safetytest.dir /home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/CMakeFiles/moveit_ros_manipulation_gencfg.dir /home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/CMakeFiles/moveit_ros_planning_gencfg.dir /home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/CMakeFiles/graph_msgs_generate_messages_nodejs.dir diff --git a/cmake-build-debug/CMakeFiles/clion-log.txt b/cmake-build-debug/CMakeFiles/clion-log.txt index 91fd45c4bb2045a6c1e68243f1fc0dbc6dc1d363..9a9658744a880d2a248bb7ec658a03acaf3b4559 100644 --- a/cmake-build-debug/CMakeFiles/clion-log.txt +++ b/cmake-build-debug/CMakeFiles/clion-log.txt @@ -16,13 +16,6 @@ -- catkin 0.7.28 -- BUILD_SHARED_LIBS is on -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -CMake Error at /opt/ros/melodic/share/genmsg/cmake/genmsg-extras.cmake:94 (message): - add_message_files() directory not found: - /home/nikhil/panda_gazebo_workspace/src/zero/msg -Call Stack (most recent call first): - CMakeLists.txt:68 (add_message_files) - - --- Configuring incomplete, errors occurred! -See also "/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/CMakeFiles/CMakeOutput.log". -See also "/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/CMakeFiles/CMakeError.log". +-- Configuring done +-- Generating done +-- Build files have been written to: /home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug diff --git a/cmake-build-debug/CMakeFiles/progress.marks b/cmake-build-debug/CMakeFiles/progress.marks index 1e8b314962144c26d5e0e50fd29d2ca327864913..b8626c4cff2849624fb67f87cd0ad72b163671ad 100644 --- a/cmake-build-debug/CMakeFiles/progress.marks +++ b/cmake-build-debug/CMakeFiles/progress.marks @@ -1 +1 @@ -6 +4 diff --git a/cmake-build-debug/CMakeFiles/robot_models_node.dir/CXX.includecache b/cmake-build-debug/CMakeFiles/robot_models_node.dir/CXX.includecache index cc63722908f23ebfb6be68f4cd112eef99f93794..a35af57e673b44fa48495652d02fc391e7011147 100644 --- a/cmake-build-debug/CMakeFiles/robot_models_node.dir/CXX.includecache +++ b/cmake-build-debug/CMakeFiles/robot_models_node.dir/CXX.includecache @@ -75,8 +75,6 @@ datalink/hand.h /home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/hand.h datalink/humanspace.h /home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/humanspace.h -datalink/joint.h -/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/joint.h datalink/obstacle.h /home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/obstacle.h datalink/robot.h @@ -113,6 +111,8 @@ tf2_geometry_msgs/tf2_geometry_msgs.h /home/nikhil/panda_gazebo_workspace/src/zero/src/tf2_geometry_msgs/tf2_geometry_msgs.h geometry_msgs/PointStamped.h /home/nikhil/panda_gazebo_workspace/src/zero/src/geometry_msgs/PointStamped.h +datalink/joint.h +/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/joint.h tf2_ros/transform_broadcaster.h - tf2/LinearMath/Quaternion.h @@ -121,6 +121,12 @@ moveit/move_group_interface/move_group_interface.h - moveit/planning_scene_interface/planning_scene_interface.h - +std_msgs/UInt32.h +- +std_msgs/String.h +/home/nikhil/panda_gazebo_workspace/src/zero/src/std_msgs/String.h +sstream +- /opt/ros/melodic/include/actionlib/action_definition.h @@ -2602,6 +2608,38 @@ ros/builtin_message_traits.h ros/message_operations.h - +/opt/ros/melodic/include/std_msgs/String.h +string +- +vector +- +map +- +ros/types.h +- +ros/serialization.h +- +ros/builtin_message_traits.h +- +ros/message_operations.h +- + +/opt/ros/melodic/include/std_msgs/UInt32.h +string +- +vector +- +map +- +ros/types.h +- +ros/serialization.h +- +ros/builtin_message_traits.h +- +ros/message_operations.h +- + /opt/ros/melodic/include/tf2/LinearMath/Matrix3x3.h Vector3.h /opt/ros/melodic/include/tf2/LinearMath/Vector3.h diff --git a/cmake-build-debug/CMakeFiles/robot_models_node.dir/build.make 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a/cmake-build-debug/CMakeFiles/worldsafety.dir/progress.make +++ b/cmake-build-debug/CMakeFiles/worldsafety.dir/progress.make @@ -1,3 +1,3 @@ -CMAKE_PROGRESS_1 = 16 -CMAKE_PROGRESS_2 = 17 +CMAKE_PROGRESS_1 = 14 +CMAKE_PROGRESS_2 = 15 diff --git a/cmake-build-debug/CMakeFiles/worldsafety.dir/src/worldsafety.cpp.o b/cmake-build-debug/CMakeFiles/worldsafety.dir/src/worldsafety.cpp.o index 049f7aaf7f1b21f581d07e8c1bd41d0e65751ed6..9b7a9e72089f31c1f85853edfdfd80923b8e1cfc 100644 Binary files a/cmake-build-debug/CMakeFiles/worldsafety.dir/src/worldsafety.cpp.o and b/cmake-build-debug/CMakeFiles/worldsafety.dir/src/worldsafety.cpp.o differ diff --git a/cmake-build-debug/Makefile b/cmake-build-debug/Makefile index 8ae493eedd4f09b1f71c5b496b3dc087063ed57a..07df3ca26d2475061ebc0af1520e26c9795fc8ab 100644 --- a/cmake-build-debug/Makefile +++ b/cmake-build-debug/Makefile @@ -180,19 +180,6 @@ worldsafety/fast: $(MAKE) -f CMakeFiles/worldsafety.dir/build.make CMakeFiles/worldsafety.dir/build .PHONY : worldsafety/fast -#============================================================================= -# Target rules for targets named safetytest - -# Build rule for target. -safetytest: cmake_check_build_system - $(MAKE) -f CMakeFiles/Makefile2 safetytest -.PHONY : safetytest - -# fast build rule for target. -safetytest/fast: - $(MAKE) -f CMakeFiles/safetytest.dir/build.make CMakeFiles/safetytest.dir/build -.PHONY : safetytest/fast - #============================================================================= # Target rules for targets named moveit_ros_manipulation_gencfg @@ -1650,33 +1637,6 @@ src/robot_models_node.cpp.s: $(MAKE) -f CMakeFiles/robot_models_node.dir/build.make CMakeFiles/robot_models_node.dir/src/robot_models_node.cpp.s .PHONY : src/robot_models_node.cpp.s -src/safetytest.o: src/safetytest.cpp.o - -.PHONY : src/safetytest.o - -# target to build an object file -src/safetytest.cpp.o: - $(MAKE) -f CMakeFiles/safetytest.dir/build.make CMakeFiles/safetytest.dir/src/safetytest.cpp.o -.PHONY : src/safetytest.cpp.o - -src/safetytest.i: src/safetytest.cpp.i - -.PHONY : src/safetytest.i - -# target to preprocess a source file -src/safetytest.cpp.i: - $(MAKE) -f CMakeFiles/safetytest.dir/build.make CMakeFiles/safetytest.dir/src/safetytest.cpp.i -.PHONY : src/safetytest.cpp.i - -src/safetytest.s: src/safetytest.cpp.s - -.PHONY : src/safetytest.s - -# target to generate assembly for a file -src/safetytest.cpp.s: - $(MAKE) -f CMakeFiles/safetytest.dir/build.make CMakeFiles/safetytest.dir/src/safetytest.cpp.s -.PHONY : src/safetytest.cpp.s - src/worldsafety.o: src/worldsafety.cpp.o .PHONY : src/worldsafety.o @@ -1716,7 +1676,6 @@ help: @echo "... list_install_components" @echo "... test" @echo "... worldsafety" - @echo "... safetytest" @echo "... moveit_ros_manipulation_gencfg" @echo "... moveit_ros_planning_gencfg" @echo "... graph_msgs_generate_messages_nodejs" @@ -1832,9 +1791,6 @@ help: @echo "... src/robot_models_node.o" @echo "... src/robot_models_node.i" @echo "... src/robot_models_node.s" - @echo "... src/safetytest.o" - @echo "... src/safetytest.i" - @echo "... src/safetytest.s" @echo "... src/worldsafety.o" @echo "... src/worldsafety.i" @echo "... src/worldsafety.s" diff --git a/cmake-build-debug/catkin_generated/stamps/robot_models/package.xml.stamp b/cmake-build-debug/catkin_generated/stamps/robot_models/package.xml.stamp index bfd7934054c76a7c19e41cf4e697b284417f1abb..2396dbb9305dfd06cd818441d187c1a18976a0ee 100644 --- a/cmake-build-debug/catkin_generated/stamps/robot_models/package.xml.stamp +++ b/cmake-build-debug/catkin_generated/stamps/robot_models/package.xml.stamp @@ -1,48 +1,64 @@ <?xml version="1.0"?> -<?xml-model - href="http://download.ros.org/schema/package_format3.xsd" - schematypens="http://www.w3.org/2001/XMLSchema"?> -<package format="3"> - <name>catkin</name> - <version>0.7.28</version> - <description>Low-level build system macros and infrastructure for ROS.</description> - <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer> - <license>BSD</license> - - <url type="website">http://wiki.ros.org/catkin</url> - <url type="bugtracker">https://github.com/ros/catkin/issues</url> - <url type="repository">https://github.com/ros/catkin</url> - - <author>Troy Straszheim</author> - <author>Morten Kjaergaard</author> - <author>Brian Gerkey</author> - <author>Dirk Thomas</author> - - <depend condition="$ROS_PYTHON_VERSION == 2">python-argparse</depend> - <depend condition="$ROS_PYTHON_VERSION == 2" version_gt="0.4.3">python-catkin-pkg</depend> - <depend condition="$ROS_PYTHON_VERSION == 3" version_gt="0.4.3">python3-catkin-pkg</depend> - <depend condition="$ROS_PYTHON_VERSION == 2">python-empy</depend> - <depend condition="$ROS_PYTHON_VERSION == 3">python3-empy</depend> - - <buildtool_depend>cmake</buildtool_depend> - <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend> - <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend> - - <buildtool_export_depend>cmake</buildtool_export_depend> - <buildtool_export_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_export_depend> - - <build_export_depend>google-mock</build_export_depend> - <build_export_depend>gtest</build_export_depend> - <build_export_depend condition="$ROS_PYTHON_VERSION == 2">python-nose</build_export_depend> - <build_export_depend condition="$ROS_PYTHON_VERSION == 3">python3-nose</build_export_depend> - - <test_depend condition="$ROS_PYTHON_VERSION == 2">python-mock</test_depend> - <test_depend condition="$ROS_PYTHON_VERSION == 3">python3-mock</test_depend> - <test_depend condition="$ROS_PYTHON_VERSION == 2">python-nose</test_depend> - <test_depend condition="$ROS_PYTHON_VERSION == 3">python3-nose</test_depend> +<package format="2"> + <name>robot_models</name> + <version>0.1.0</version> + <description>The robot_models package</description> + <!-- One maintainer tag required, multiple allowed, one person per tag --> + <!-- Example: --> + <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> --> + <maintainer email="nikhil.ambardar@tu-dresden.de">Nikhil Ambardar</maintainer> + + + <!-- One license tag required, multiple allowed, one license per tag --> + <!-- Commonly used license strings: --> + <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 --> + <license>MIT</license> + + + <!-- Url tags are optional, but multiple are allowed, one per tag --> + <!-- Optional attribute type can be: website, bugtracker, or repository --> + <!-- Example: --> + <!-- <url type="website">http://wiki.ros.org/robot_models</url> --> + + + <!-- Author tags are optional, multiple are allowed, one per tag --> + <!-- Authors do not have to be maintainers, but could be --> + <!-- Example: --> + <!-- <author email="jane.doe@example.com">Jane Doe</author> --> + <author email="nikhil.ambardar@tu-dresden.de">Nikhil Ambardar</author> + + + <!-- The *depend tags are used to specify dependencies --> + <!-- Dependencies can be catkin packages or system dependencies --> + <!-- Examples: --> + <!-- Use depend as a shortcut for packages that are both build and exec dependencies --> + <!-- <depend>roscpp</depend> --> + <!-- Note that this is equivalent to the following: --> + <!-- <build_depend>roscpp</build_depend> --> + <!-- <exec_depend>roscpp</exec_depend> --> + <!-- Use build_depend for packages you need at compile time: --> + <!-- <build_depend>message_generation</build_depend> --> + <!-- Use build_export_depend for packages you need in order to build against this package: --> + <!-- <build_export_depend>message_generation</build_export_depend> --> + <!-- Use buildtool_depend for build tool packages: --> + <!-- <buildtool_depend>catkin</buildtool_depend> --> + <!-- Use exec_depend for packages you need at runtime: --> + <!-- <exec_depend>message_runtime</exec_depend> --> + <!-- Use test_depend for packages you need only for testing: --> + <!-- <test_depend>gtest</test_depend> --> + <!-- Use doc_depend for packages you need only for building documentation: --> + <!-- <doc_depend>doxygen</doc_depend> --> + <buildtool_depend>catkin</buildtool_depend> + <depend>gazebo_ros</depend> + <depend>moveit_core</depend> + <depend>moveit_visual_tools</depend> + <depend>moveit_ros_planning_interface</depend> + + + <!-- The export tag contains other, unspecified, tags --> <export> - <rosdoc config="rosdoc.yaml"/> - <architecture_independent/> + <!-- Other tools can request additional information be placed here --> + </export> </package> diff --git a/cmake-build-debug/devel/lib/robot_models/worldsafety b/cmake-build-debug/devel/lib/robot_models/worldsafety index 1488315a236788ccbc46adef3812467a1024fa93..3f69f7da1fd20e265a7d86ebd18de323a9a197ed 100755 Binary files a/cmake-build-debug/devel/lib/robot_models/worldsafety and b/cmake-build-debug/devel/lib/robot_models/worldsafety differ diff --git a/cmake-build-debug/robot_models.cbp b/cmake-build-debug/robot_models.cbp index ca5d9be45955a2baa4c4525131d04fadcd3a4705..52f602d6a1b8ec562d4e5389318c2f2452dbc692 100644 --- a/cmake-build-debug/robot_models.cbp +++ b/cmake-build-debug/robot_models.cbp @@ -129,68 +129,6 @@ <DistClean command="/usr/bin/make -j4 -f "/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile" VERBOSE=1 clean"/> </MakeCommands> </Target> - <Target title="safetytest"> - <Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/safetytest" prefix_auto="0" extension_auto="0"/> - <Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/> - <Option object_output="./"/> - <Option type="1"/> - <Option compiler="gcc"/> - <Compiler> - <Add option="-DROS_BUILD_SHARED_LIBS=1"/> - <Add option="-DROS_PACKAGE_NAME="robot_models""/> - <Add option="-DROSCONSOLE_BACKEND_LOG4CXX"/> - <Add directory="/opt/ros/melodic/include"/> - <Add directory="/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp"/> - <Add directory="/opt/ros/melodic/share/orocos_kdl/cmake/../../../include"/> - <Add directory="/usr/include/eigen3"/> - <Add directory="/usr/include/OGRE"/> - <Add directory="/usr/include/c++/7"/> - <Add directory="/usr/include/x86_64-linux-gnu/c++/7"/> - <Add directory="/usr/include/c++/7/backward"/> - <Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/> - <Add directory="/usr/local/include"/> - <Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/> - <Add directory="/usr/include/x86_64-linux-gnu"/> - <Add directory="/usr/include"/> - </Compiler> - <MakeCommands> - <Build command="/usr/bin/make -j4 -f "/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile" VERBOSE=1 safetytest"/> - <CompileFile command="/usr/bin/make -j4 -f "/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile" VERBOSE=1 "$file""/> - <Clean command="/usr/bin/make -j4 -f "/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile" VERBOSE=1 clean"/> - <DistClean command="/usr/bin/make -j4 -f "/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile" VERBOSE=1 clean"/> - </MakeCommands> - </Target> - <Target title="safetytest/fast"> - <Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/safetytest" prefix_auto="0" extension_auto="0"/> - <Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/> - <Option object_output="./"/> - <Option type="1"/> - <Option compiler="gcc"/> - <Compiler> - <Add option="-DROS_BUILD_SHARED_LIBS=1"/> - <Add option="-DROS_PACKAGE_NAME="robot_models""/> - <Add option="-DROSCONSOLE_BACKEND_LOG4CXX"/> - <Add directory="/opt/ros/melodic/include"/> - <Add directory="/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp"/> - <Add directory="/opt/ros/melodic/share/orocos_kdl/cmake/../../../include"/> - <Add directory="/usr/include/eigen3"/> - <Add directory="/usr/include/OGRE"/> - <Add directory="/usr/include/c++/7"/> - <Add directory="/usr/include/x86_64-linux-gnu/c++/7"/> - <Add directory="/usr/include/c++/7/backward"/> - <Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/> - <Add directory="/usr/local/include"/> - <Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/> - <Add directory="/usr/include/x86_64-linux-gnu"/> - <Add directory="/usr/include"/> - </Compiler> - <MakeCommands> - <Build command="/usr/bin/make -j4 -f "/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile" VERBOSE=1 safetytest/fast"/> - <CompileFile command="/usr/bin/make -j4 -f "/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile" VERBOSE=1 "$file""/> - <Clean command="/usr/bin/make -j4 -f "/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile" VERBOSE=1 clean"/> - <DistClean command="/usr/bin/make -j4 -f "/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile" VERBOSE=1 clean"/> - </MakeCommands> - </Target> <Target title="moveit_ros_manipulation_gencfg"> <Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/> <Option type="4"/> @@ -1542,65 +1480,51 @@ </Build> <Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/abstractobject.h"> <Option target="worldsafety"/> - <Option target="safetytest"/> <Option target="robot_models_node"/> </Unit> <Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/graspobject.h"> <Option target="worldsafety"/> - <Option target="safetytest"/> <Option target="robot_models_node"/> </Unit> <Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/hand.h"> <Option target="worldsafety"/> - <Option target="safetytest"/> <Option target="robot_models_node"/> </Unit> <Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/humanspace.h"> <Option target="worldsafety"/> - <Option target="safetytest"/> <Option target="robot_models_node"/> </Unit> <Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/joint.h"> <Option target="worldsafety"/> - <Option target="safetytest"/> <Option target="robot_models_node"/> </Unit> <Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/obstacle.h"> <Option target="worldsafety"/> - <Option target="safetytest"/> <Option target="robot_models_node"/> </Unit> <Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/quaternion.h"> <Option target="worldsafety"/> - <Option target="safetytest"/> <Option target="robot_models_node"/> </Unit> <Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/robot.h"> <Option target="worldsafety"/> - <Option target="safetytest"/> <Option target="robot_models_node"/> </Unit> <Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/robotfpe.h"> <Option target="worldsafety"/> - <Option target="safetytest"/> <Option target="robot_models_node"/> </Unit> <Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/world.h"> <Option target="worldsafety"/> - <Option target="safetytest"/> <Option target="robot_models_node"/> </Unit> <Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/worldobject.h"> <Option target="worldsafety"/> - <Option target="safetytest"/> <Option target="robot_models_node"/> </Unit> <Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/robot_models_node.cpp"> <Option target="robot_models_node"/> </Unit> - <Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/safetytest.cpp"> - <Option target="safetytest"/> - </Unit> <Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/worldsafety.cpp"> <Option target="worldsafety"/> </Unit> diff --git a/src/robot_models_node.cpp b/src/robot_models_node.cpp index 54d1273b4a9ba18aef62d5a32e4a17d967f4692b..be41ced1eb599112bd376b30119707571ed25491 100644 --- a/src/robot_models_node.cpp +++ b/src/robot_models_node.cpp @@ -29,10 +29,12 @@ #include <std_msgs/UInt32.h> #include "std_msgs/String.h" #include <sstream> - -void pub(const std_msgs::String::ConstPtr& msg) +//use global var gvar +uint32_t gvar; +void pub(const std_msgs::UInt32::ConstPtr& msg) { - ROS_INFO("I heard: [%s]", msg->data.c_str()); + ROS_INFO("I heard: [%i]", msg->data); + gvar= msg->data; } int main(int argc, char **argv) { @@ -117,14 +119,8 @@ void pub(const std_msgs::String::ConstPtr& msg) o9.b2->z = 1.6; o9.b2->w = 1.9; */ - ros::Subscriber sub = namespace_name.subscribe("updateDectectedHumans", 1000, pub); - o9.humans->humannum = sub; - //o9.humans->humannum = 1; + ros::Subscriber sub = node_handle.subscribe("updateDectectedHumans", 1000, pub); ros::spin(); - if(o9.humans->humannum>0) - ROS_INFO_STREAM("THE ROBOT IS IN AN UNSAFE STATE"); - if(o9.humans->humannum==0) - ROS_INFO_STREAM("THE ROBOT IS IN A SAFE STATE"); tf2_ros::Buffer tfBuffer; tf2_ros::TransformListener tfListener(tfBuffer); @@ -149,6 +145,7 @@ void pub(const std_msgs::String::ConstPtr& msg) transformStamped5 = tfBuffer.lookupTransform("world", robot1.jo[5].name, ros::Time(0)); transformStamped6 = tfBuffer.lookupTransform("world", robot1.jo[6].name, ros::Time(0)); transformStamped7 = tfBuffer.lookupTransform("world", robot1.jo[7].name, ros::Time(0)); + o9.humans->humannum =gvar; } catch (tf2::TransformException &ex) { ROS_WARN("%s", ex.what()); ros::Duration(0.1).sleep(); diff --git a/src/talker.cpp b/src/talker.cpp deleted file mode 100644 index 280fa3e7ca5cb2690311e83736012ce2f3a46b76..0000000000000000000000000000000000000000 --- a/src/talker.cpp +++ /dev/null @@ -1,36 +0,0 @@ -#include <ros/ros.h> -#include <tf2_ros/transform_listener.h> -#include <geometry_msgs/TransformStamped.h> -#include <geometry_msgs/PoseStamped.h> -#include <tf2_ros/static_transform_broadcaster.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 <std_msgs/UInt32.h> -#include "std_msgs/String.h" -#include <sstream> - -int talker(int argc, char **argv) { - ros::init(argc, argv, "talker"); - ros::NodeHandle n; - ros::Publisher chatter_pub = n.advertise<std_msgs::UInt32>("updateDectectedHumans", 1000); - ros::Rate loop_rate(10); - int count = 0; - while (ros::ok()) { - std_msgs::UInt32 msg; - std::stringstream ss; - ss << "hello world " << count; - msg.data = ss.str(); - ROS_INFO("%s", msg.data); - chatter_pub.publish(msg); - ros::spinOnce(); - loop_rate.sleep(); - ++count; - }return 0; -} - diff --git a/src/worldsafety.cpp b/src/worldsafety.cpp index df71e194afa41967943fbc65205bd850bcf5157a..d8e9aef15c154e6b92125a6d83b2489e2b2dee70 100644 --- a/src/worldsafety.cpp +++ b/src/worldsafety.cpp @@ -145,9 +145,10 @@ int main(int argc, char **argv) { double epsilon = 0.001; // 1mm deviation is allowed double dev_x = 0; // TODO compute dev_x/y using std::abs, the position in double dev_y = 0; // the model and another_pose.position.x/y - std::abs(dev_x/dev_y); - std::abs(another_pose.position.x/another_pose.position.y); - if (false) { // TODO add correct condition + dev_x=std::abs(robot1->jo[6].p1[0]-another_pose.position.x); + dev_y=std::abs(robot1->jo[6].p1[1]-another_pose.position.y); + + if (dev_x<=epsilon&&dev_y<=epsilon) { // TODO add correct condition ROS_INFO_STREAM(" ROBOT MOVED TO INTENDED POSITION. x/y deviations are " << dev_x << "/" << dev_y); break; // the test succeeded, we can exit the loop } else {