Skip to content
GitLab
Explore
Sign in
Register
Primary navigation
Search or go to…
Project
Z
zero
Manage
Activity
Members
Labels
Plan
Issues
Issue boards
Milestones
Wiki
Code
Merge requests
Repository
Branches
Commits
Tags
Repository graph
Compare revisions
Snippets
Build
Pipelines
Jobs
Pipeline schedules
Artifacts
Deploy
Releases
Container registry
Model registry
Operate
Environments
Monitor
Incidents
Analyze
Value stream analytics
Contributor analytics
CI/CD analytics
Repository analytics
Model experiments
Help
Help
Support
GitLab documentation
Compare GitLab plans
Community forum
Contribute to GitLab
Provide feedback
Keyboard shortcuts
?
Snippets
Groups
Projects
Show more breadcrumbs
Nikhil Ambardar
zero
Commits
9e25d3ed
Commit
9e25d3ed
authored
4 years ago
by
Nikhil Ambardar
Browse files
Options
Downloads
Patches
Plain Diff
Upload New File
parent
a3f7822f
Branches
Branches containing commit
No related tags found
No related merge requests found
Changes
1
Hide whitespace changes
Inline
Side-by-side
Showing
1 changed file
src/testappm.cpp
+146
-0
146 additions, 0 deletions
src/testappm.cpp
with
146 additions
and
0 deletions
src/testappm.cpp
0 → 100644
+
146
−
0
View file @
9e25d3ed
#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>
int
main
(
int
argc
,
char
**
argv
)
{
ros
::
init
(
argc
,
argv
,
"TestNode"
);
ros
::
NodeHandle
node_handle
(
"namespace_name"
);
ros
::
AsyncSpinner
spinner
(
1
);
spinner
.
start
();
ROS_INFO
(
"Welcome to Test Code"
);
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
;
o7
.
jo1
->
name
=
"panda_link1"
;
o7
.
jo2
->
name
=
"panda_link2"
;
o7
.
jo3
->
name
=
"panda_link3"
;
o7
.
jo4
->
name
=
"panda_link4"
;
o7
.
jo5
->
name
=
"panda_link5"
;
o7
.
jo6
->
name
=
"panda_link6"
;
o7
.
jo7
->
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
=
0
;
while
(
node_handle
.
ok
())
{
//for (const auto &topic : ROSNODE1::topics)
{
geometry_msgs
::
TransformStamped
transformStamped
[
7
];
try
{
transformStamped
[
i
++
]
=
tfBuffer
.
lookupTransform
(
"world"
,
o7
.
jo1
->
name
,
ros
::
Time
(
0
));
transformStamped
[
i
++
]
=
tfBuffer
.
lookupTransform
(
"world"
,
o7
.
jo2
->
name
,
ros
::
Time
(
0
));
transformStamped
[
i
++
]
=
tfBuffer
.
lookupTransform
(
"world"
,
o7
.
jo3
->
name
,
ros
::
Time
(
0
));
transformStamped
[
i
++
]
=
tfBuffer
.
lookupTransform
(
"world"
,
o7
.
jo4
->
name
,
ros
::
Time
(
0
));
transformStamped
[
i
++
]
=
tfBuffer
.
lookupTransform
(
"world"
,
o7
.
jo5
->
name
,
ros
::
Time
(
0
));
transformStamped
[
i
++
]
=
tfBuffer
.
lookupTransform
(
"world"
,
o7
.
jo6
->
name
,
ros
::
Time
(
0
));
transformStamped
[
i
++
]
=
tfBuffer
.
lookupTransform
(
"world"
,
o7
.
jo7
->
name
,
ros
::
Time
(
0
));
}
catch
(
tf2
::
TransformException
&
ex
)
{
ROS_WARN
(
"%s"
,
ex
.
what
());
ros
::
Duration
(
0.1
).
sleep
();
continue
;
}
if
(
i
==
7
)
ROS_INFO
(
"TEST CASE SUCCESSFUL.ROBOT FPE HAS 7 JOINTS"
);
else
ROS_INFO
(
"TEST CASE NOT SUCCESSFUL.ROBOT FPE HAS WRONG NUMBER OF JOINTS"
);
}
rate
.
sleep
();
}
return
0
;
}
This diff is collapsed.
Click to expand it.
Preview
0%
Loading
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Save comment
Cancel
Please
register
or
sign in
to comment