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Commit a3f7822f authored by Nikhil Ambardar's avatar Nikhil Ambardar
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Update robot_models_node.cpp

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src/robot_models_node.cpp
+ 212
− 131
View file @ a3f7822f
...@@ -54,28 +54,60 @@ ...@@ -54,28 +54,60 @@
world o9; world o9;
worldobject o10; worldobject o10;
o7.jo1->name= "panda_link1";
o5a.name = "panda_link1"; o7.jo2->name= "panda_link2";
o5b.name = "panda_link2"; o7.jo3->name= "panda_link3";
o5c.name = "panda_link3"; o7.jo4->name= "panda_link4";
o5d.name = "panda_link4"; o7.jo5->name= "panda_link5";
o5e.name = "panda_link5"; o7.jo6->name= "panda_link6";
o5f.name = "panda_link6"; o7.jo7->name= "panda_link7";
o5g.name = "panda_link7";
o5a.or2 = {1.2,5.3,6.5,7.4}; //o5a.name = "panda_link1";
o5b.or2 = {2.5,3.6,5.8,4.9}; //o5b.name = "panda_link2";
o5c.or2 = {5.1,1.2,9.9,6.8}; //o5c.name = "panda_link3";
o5d.or2 = {6.3,3.4,8.5,9.6}; //o5d.name = "panda_link4";
o5e.or2 = {8.2,2.6,7.9,5.5}; //o5e.name = "panda_link5";
o5f.or2 = {7.3,4.4,6.7,4.0}; //o5f.name = "panda_link6";
o5g.or2 = {9.0,5.2,5.5,8.7}; //o5g.name = "panda_link7";
o5a.p1 = {1.3, 10.1, 9.4}; o7.jo1->or2= {1.2,5.3,6.5,7.4};
o5b.p1 = {14.7, 11.3, 6.5}; o7.jo2->or2= {2.5,3.6,5.8,4.9};
o5c.p1 = {4.9, 13.8, 7.7}; o7.jo3->or2= {5.1,1.2,9.9,6.8};
o5d.p1 = {2.4, 12.5, 1.6}; o7.jo4->or2= {6.3,3.4,8.5,9.6};
o5e.p1 = {3.1, 16.2, 5.3}; o7.jo5->or2= {8.2,2.6,7.9,5.5};
o5f.p1 = {11.5, 15.4, 3.4}; o7.jo6->or2= {7.3,4.4,6.7,4.0};
o5g.p1 = {5.1, 18.3, 4.2}; o7.jo7->or2= {7.3,4.4,6.7,4.0};
//o5a.or2 = {1.2,5.3,6.5,7.4};
//o5b.or2 = {2.5,3.6,5.8,4.9};
//o5c.or2 = {5.1,1.2,9.9,6.8};
//o5d.or2 = {6.3,3.4,8.5,9.6};
//o5e.or2 = {8.2,2.6,7.9,5.5};
//o5f.or2 = {7.3,4.4,6.7,4.0};
//o5g.or2 = {9.0,5.2,5.5,8.7};
//o5a.p1 = {1.3, 10.1, 9.4};
//o5b.p1 = {14.7, 11.3, 6.5};
//o5c.p1 = {4.9, 13.8, 7.7};
//o5d.p1 = {2.4, 12.5, 1.6};
//o5e.p1 = {3.1, 16.2, 5.3};
//o5f.p1 = {11.5, 15.4, 3.4};
//o5g.p1 = {5.1, 18.3, 4.2};
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};
//o5a.p1 = {1.3, 10.1, 9.4};
//o5b.p1 = {14.7, 11.3, 6.5};
//o5c.p1 = {4.9, 13.8, 7.7};
//o5d.p1 = {2.4, 12.5, 1.6};
//o5e.p1 = {3.1, 16.2, 5.3};
//o5f.p1 = {11.5, 15.4, 3.4};
//o5g.p1 = {5.1, 18.3, 4.2};
o9.c->robname="Robot FPE"; o9.c->robname="Robot FPE";
...@@ -94,7 +126,7 @@ ...@@ -94,7 +126,7 @@
o9.b1->name="Cube"; o9.b1->name="Cube";
o9.b1->size={5.2, 7.5, 9.1}; o9.b1->size={5.2, 7.5, 9.1};
;
o9.b1->p1= {13.2, 14.1, 17.5}; o9.b1->p1= {13.2, 14.1, 17.5};
o9.b1->x= 2.3; o9.b1->x= 2.3;
...@@ -135,13 +167,13 @@ ...@@ -135,13 +167,13 @@
geometry_msgs::TransformStamped transformStamped7; geometry_msgs::TransformStamped transformStamped7;
try { try {
transformStamped1 = tfBuffer.lookupTransform("world", o5a.name, ros::Time(0)); transformStamped1 = tfBuffer.lookupTransform("world", o7.jo1->name, ros::Time(0));
transformStamped2 = tfBuffer.lookupTransform("world", o5b.name, ros::Time(0)); transformStamped2 = tfBuffer.lookupTransform("world", o7.jo2->name, ros::Time(0));
transformStamped3 = tfBuffer.lookupTransform("world", o5c.name, ros::Time(0)); transformStamped3 = tfBuffer.lookupTransform("world", o7.jo3->name, ros::Time(0));
transformStamped4 = tfBuffer.lookupTransform("world", o5d.name, ros::Time(0)); transformStamped4 = tfBuffer.lookupTransform("world", o7.jo4->name, ros::Time(0));
transformStamped5 = tfBuffer.lookupTransform("world", o5e.name, ros::Time(0)); transformStamped5 = tfBuffer.lookupTransform("world", o7.jo5->name, ros::Time(0));
transformStamped6 = tfBuffer.lookupTransform("world", o5f.name, ros::Time(0)); transformStamped6 = tfBuffer.lookupTransform("world", o7.jo6->name, ros::Time(0));
transformStamped7 = tfBuffer.lookupTransform("world", o5g.name, ros::Time(0)); transformStamped7 = tfBuffer.lookupTransform("world", o7.jo7->name, ros::Time(0));
} catch (tf2::TransformException &ex) { } catch (tf2::TransformException &ex) {
ROS_WARN("%s", ex.what()); ROS_WARN("%s", ex.what());
ros::Duration(0.1).sleep(); ros::Duration(0.1).sleep();
...@@ -149,64 +181,113 @@ ...@@ -149,64 +181,113 @@
} }
o5a.p1[0]=0.0; o7.jo1->p1[0]=0.0;
o5a.p1[1]=0.0; o7.jo1->p1[1]=0.0;
o5a.p1[2]=0.0; o7.jo1->p1[2]=0.0;
o5b.p1[0]=0.0; o7.jo2->p1[0]=0.0;
o5b.p1[1]=0.0; o7.jo2->p1[1]=0.0;
o5b.p1[2]=0.0; o7.jo2->p1[2]=0.0;
o5c.p1[0]=0.0; o7.jo3->p1[0]=0.0;
o5c.p1[1]=0.0; o7.jo3->p1[1]=0.0;
o5c.p1[2]=0.0; o7.jo3->p1[2]=0.0;
o5d.p1[0]=0.0; o7.jo4->p1[0]=0.0;
o5d.p1[1]=0.0; o7.jo4->p1[1]=0.0;
o5d.p1[2]=0.0; o7.jo4->p1[2]=0.0;
o5e.p1[0]=0.0; o7.jo5->p1[0]=0.0;
o5e.p1[1]=0.0; o7.jo5->p1[1]=0.0;
o5e.p1[2]=0.0; o7.jo5->p1[2]=0.0;
o5f.p1[0]=0.0; o7.jo6->p1[0]=0.0;
o5f.p1[1]=0.0; o7.jo6->p1[1]=0.0;
o5f.p1[2]=0.0; o7.jo6->p1[2]=0.0;
o5g.p1[0]=0.0; o7.jo7->p1[0]=0.0;
o5g.p1[1]=0.0; o7.jo7->p1[1]=0.0;
o5g.p1[2]=0.0; o7.jo7->p1[2]=0.0;
// o5a.p1[0]=0.0;
o5a.p1[0]=transformStamped1.transform.translation.x; // o5a.p1[1]=0.0;
o5a.p1[1]=transformStamped1.transform.translation.y; // o5a.p1[2]=0.0;
o5a.p1[2]=transformStamped1.transform.translation.z; // o5b.p1[0]=0.0;
ROS_INFO_STREAM("panda_link1 Position is " <<" x = "<< o5a.p1[0] << ", y = "<< o5a.p1[1]<<", z = "<<o5a.p1[2]); //o5b.p1[1]=0.0;
// o5b.p1[2]=0.0;//
o5b.p1[0]=transformStamped2.transform.translation.x; //o5c.p1[0]=0.0;
o5b.p1[1]=transformStamped2.transform.translation.y; // o5c.p1[1]=0.0;
o5b.p1[2]=transformStamped2.transform.translation.z; //o5c.p1[2]=0.0;
ROS_INFO_STREAM("panda_link2 Position is " <<" x = "<< o5b.p1[0] << ", y = "<< o5b.p1[1]<<", z = "<<o5b.p1[2]); //o5d.p1[0]=0.0;
// o5d.p1[1]=0.0;
o5c.p1[0]=transformStamped3.transform.translation.x; //o5d.p1[2]=0.0;
o5c.p1[1]=transformStamped3.transform.translation.y; //o5e.p1[0]=0.0;
o5c.p1[2]=transformStamped3.transform.translation.z; //o5e.p1[1]=0.0;
ROS_INFO_STREAM("panda_link3 Position is " <<" x = "<< o5c.p1[0] << ", y = "<< o5c.p1[1]<<", z = "<<o5c.p1[2]); // o5e.p1[2]=0.0;
// o5f.p1[0]=0.0;
o5d.p1[0]=transformStamped4.transform.translation.x; // o5f.p1[1]=0.0;
o5d.p1[1]=transformStamped4.transform.translation.y; //o5f.p1[2]=0.0;
o5d.p1[2]=transformStamped4.transform.translation.z; //o5g.p1[0]=0.0;
ROS_INFO_STREAM("panda_link4 Position is " <<" x = "<< o5d.p1[0] << ", y = "<< o5d.p1[1]<<", z = "<<o5d.p1[2]); //o5g.p1[1]=0.0;
//o5g.p1[2]=0.0;
o5e.p1[0]=transformStamped5.transform.translation.x;
o5e.p1[1]=transformStamped5.transform.translation.y; o7.jo1->p1[0]=transformStamped1.transform.translation.x;
o5e.p1[2]=transformStamped5.transform.translation.z; o7.jo1->p1[1]=transformStamped1.transform.translation.y;
ROS_INFO_STREAM("panda_link5 Position is " <<" x = "<< o5e.p1[0] << ", y = "<< o5e.p1[1]<<", z = "<<o5e.p1[2]); 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]);
o5f.p1[0]=transformStamped6.transform.translation.x;
o5f.p1[1]=transformStamped6.transform.translation.y; o7.jo2->p1[0]=transformStamped2.transform.translation.x;
o5f.p1[2]=transformStamped6.transform.translation.z; o7.jo2->p1[1]=transformStamped2.transform.translation.y;
ROS_INFO_STREAM("panda_link6 Position is " <<" x = "<< o5f.p1[0] << ", y = "<< o5f.p1[1]<<", z = "<<o5f.p1[2]); 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]);
o5g.p1[0]=transformStamped7.transform.translation.x;
o5g.p1[1]=transformStamped7.transform.translation.y; o7.jo3->p1[0]=transformStamped3.transform.translation.x;
o5g.p1[2]=transformStamped7.transform.translation.z; o7.jo3->p1[1]=transformStamped3.transform.translation.y;
ROS_INFO_STREAM("panda_link7 Position is " <<" x = "<< o5g.p1[0] << ", y = "<< o5g.p1[1]<<", z = "<<o5g.p1[2]); 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]);
o5a.or2.w=0.0;
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;
/*o5a.or2.w=0.0;
o5a.or2.x=0.0; o5a.or2.x=0.0;
o5a.or2.y=0.0; o5a.or2.y=0.0;
o5a.or2.z=0.0; o5a.or2.z=0.0;
...@@ -233,49 +314,49 @@ ...@@ -233,49 +314,49 @@
o5g.or2.w=0.0; o5g.or2.w=0.0;
o5g.or2.x=0.0; o5g.or2.x=0.0;
o5g.or2.y=0.0; o5g.or2.y=0.0;
o5g.or2.z=0.0; o5g.or2.z=0.0;*/
o5a.or2.w=transformStamped1.transform.rotation.w; o7.jo1->or2.w=transformStamped1.transform.rotation.w;
o5a.or2.x=transformStamped1.transform.rotation.x; o7.jo1->or2.x=transformStamped1.transform.rotation.x;
o5a.or2.y=transformStamped1.transform.rotation.y; o7.jo1->or2.y=transformStamped1.transform.rotation.y;
o5a.or2.z=transformStamped1.transform.rotation.z; o7.jo1->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); 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);
o5b.or2.w=transformStamped2.transform.rotation.w; o7.jo2->or2.w=transformStamped2.transform.rotation.w;
o5b.or2.x=transformStamped2.transform.rotation.x; o7.jo2->or2.x=transformStamped2.transform.rotation.x;
o5b.or2.y=transformStamped2.transform.rotation.y; o7.jo2->or2.y=transformStamped2.transform.rotation.y;
o5b.or2.z=transformStamped2.transform.rotation.z; o7.jo2->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); 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);
o5c.or2.w=transformStamped3.transform.rotation.w; o7.jo3->or2.w=transformStamped3.transform.rotation.w;
o5c.or2.x=transformStamped3.transform.rotation.x; o7.jo3->or2.x=transformStamped3.transform.rotation.x;
o5c.or2.y=transformStamped3.transform.rotation.y; o7.jo3->or2.y=transformStamped3.transform.rotation.y;
o5c.or2.z=transformStamped3.transform.rotation.z; o7.jo3->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); 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);
o5d.or2.w=transformStamped4.transform.rotation.w; o7.jo4->or2.w=transformStamped4.transform.rotation.w;
o5d.or2.x=transformStamped4.transform.rotation.x; o7.jo4->or2.x=transformStamped4.transform.rotation.x;
o5d.or2.y=transformStamped4.transform.rotation.y; o7.jo4->or2.y=transformStamped4.transform.rotation.y;
o5d.or2.z=transformStamped4.transform.rotation.z; o7.jo4->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); 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);
o5e.or2.w=transformStamped5.transform.rotation.w; o7.jo5->or2.w=transformStamped5.transform.rotation.w;
o5e.or2.x=transformStamped5.transform.rotation.x; o7.jo5->or2.x=transformStamped5.transform.rotation.x;
o5e.or2.y=transformStamped5.transform.rotation.y; o7.jo5->or2.y=transformStamped5.transform.rotation.y;
o5e.or2.z=transformStamped5.transform.rotation.z; o7.jo5->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); 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);
o5f.or2.w=transformStamped6.transform.rotation.w; o7.jo6->or2.w=transformStamped6.transform.rotation.w;
o5f.or2.x=transformStamped6.transform.rotation.x; o7.jo6->or2.x=transformStamped6.transform.rotation.x;
o5f.or2.y=transformStamped6.transform.rotation.y; o7.jo6->or2.y=transformStamped6.transform.rotation.y;
o5f.or2.z=transformStamped6.transform.rotation.z; o7.jo6->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); 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);
o5g.or2.w=transformStamped7.transform.rotation.w; o7.jo7->or2.w=transformStamped7.transform.rotation.w;
o5g.or2.x=transformStamped7.transform.rotation.x; o7.jo7->or2.x=transformStamped7.transform.rotation.x;
o5g.or2.y=transformStamped7.transform.rotation.y; o7.jo7->or2.y=transformStamped7.transform.rotation.y;
o5g.or2.z=transformStamped7.transform.rotation.z; o7.jo7->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); 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(); rate.sleep();
......
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