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robot_models_node.cpp 8.50 KiB
#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, "ROSNODE1");
ros::NodeHandle node_handle("namespace_name");
ros::AsyncSpinner spinner(1);
spinner.start();
ROS_INFO("HELLO, WORLD");
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;
o5a.name = "panda_link1";
o5b.name = "panda_link2";
o5c.name = "panda_link3";
o5d.name = "panda_link4";
o5e.name = "panda_link5";
o5f.name = "panda_link6";
o5g.name = "panda_link7";
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};
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);
ros::Rate rate(10);
while (node_handle.ok()) { //for (const auto &topic : ROSNODE1::topics)
{
geometry_msgs::TransformStamped transformStamped1;
geometry_msgs::TransformStamped transformStamped2;
geometry_msgs::TransformStamped transformStamped3;
geometry_msgs::TransformStamped transformStamped4;
geometry_msgs::TransformStamped transformStamped5;
geometry_msgs::TransformStamped transformStamped6;
geometry_msgs::TransformStamped transformStamped7;
try {
transformStamped1 = tfBuffer.lookupTransform("world", o5a.name, ros::Time(0));
transformStamped2 = tfBuffer.lookupTransform("world", o5b.name, ros::Time(0));
transformStamped3 = tfBuffer.lookupTransform("world", o5c.name, ros::Time(0));
transformStamped4 = tfBuffer.lookupTransform("world", o5d.name, ros::Time(0));
transformStamped5 = tfBuffer.lookupTransform("world", o5e.name, ros::Time(0));
transformStamped6 = tfBuffer.lookupTransform("world", o5f.name, ros::Time(0));
transformStamped7 = tfBuffer.lookupTransform("world", o5g.name, ros::Time(0));
} catch (tf2::TransformException &ex) {
ROS_WARN("%s", ex.what());
ros::Duration(0.1).sleep();
continue;
}
//o5a.p1[0] = 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);
o5b.p1[0]=transformStamped2.transform.translation.x;
o5b.p1[1]=transformStamped2.transform.translation.y;
o5b.p1[2]=transformStamped2.transform.translation.z;
o5c.p1[0]=transformStamped3.transform.translation.x;
o5c.p1[1]=transformStamped3.transform.translation.y;
o5c.p1[2]=transformStamped3.transform.translation.z;
o5d.p1[0]=transformStamped4.transform.translation.x;
o5d.p1[1]=transformStamped4.transform.translation.y;
o5d.p1[2]=transformStamped4.transform.translation.z;
o5e.p1[0]=transformStamped5.transform.translation.x;
o5e.p1[1]=transformStamped5.transform.translation.y;
o5e.p1[2]=transformStamped5.transform.translation.z;
o5f.p1[0]=transformStamped6.transform.translation.x;
o5f.p1[1]=transformStamped6.transform.translation.y;
o5f.p1[2]=transformStamped6.transform.translation.z;
o5g.p1[0]=transformStamped7.transform.translation.x;
o5g.p1[1]=transformStamped7.transform.translation.y;
o5g.p1[2]=transformStamped7.transform.translation.z;
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;
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;
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;
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;
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;
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;
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;
}
rate.sleep();
}
return 0;
}