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abb_joint_downloader_node.cpp
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abb_joint_downloader_node.cpp
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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2012, Southwest Research Institute
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the Southwest Research Institute, nor the names
* of its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#include "abb_driver/abb_utils.h"
#include "industrial_robot_client/joint_trajectory_downloader.h"
#include "industrial_utils/param_utils.h"
using industrial_robot_client::joint_trajectory_downloader::JointTrajectoryDownloader;
namespace StandardSocketPorts = industrial::simple_socket::StandardSocketPorts;
class ABB_JointTrajectoryDownloader : public JointTrajectoryDownloader
{
using JointTrajectoryDownloader::init; // so base-class init() stays visible
bool J23_coupled_;
public:
bool init(std::string default_ip = "", int default_port = StandardSocketPorts::MOTION)
{
if (!JointTrajectoryDownloader::init(default_ip, default_port)) // call base-class init()
return false;
if (ros::param::has("J23_coupled"))
ros::param::get("J23_coupled", this->J23_coupled_);
else
J23_coupled_ = false;
return true;
}
bool transform(const trajectory_msgs::JointTrajectoryPoint& pt_in, trajectory_msgs::JointTrajectoryPoint* pt_out)
{
// correct for parallel linkage effects, if desired
// - use POSITIVE factor for joint->motor correction
abb::utils::linkage_transform(pt_in, pt_out, J23_coupled_ ? +1:0 );
return true;
}
bool calc_velocity(const trajectory_msgs::JointTrajectoryPoint& pt, double* rbt_velocity)
{
*rbt_velocity = 0; // unused by ABB driver
return true;
}
};
int main(int argc, char** argv)
{
// initialize node
ros::init(argc, argv, "motion_interface");
// launch the default JointTrajectoryDownloader connection/handlers
ABB_JointTrajectoryDownloader motionInterface;
motionInterface.init();
motionInterface.run();
return 0;
}