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update rtc name ;; Absoluteforcesensor => RemoveForceSensorLinkOffset #397

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May 24, 2014
Merged

update rtc name ;; Absoluteforcesensor => RemoveForceSensorLinkOffset #397

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8 changes: 4 additions & 4 deletions hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -142,18 +142,18 @@

<!-- USE_IMPEDANCECONTROLLER
ImpedanceController
AbsoluteForceSensor
RemoveForceSensorLinkOffset
-->
<group if="$(arg USE_IMPEDANCECONTROLLER)" >
<node pkg="hrpsys_ros_bridge" name="ImpedanceControllerServiceROSBridge" type="ImpedanceControllerServiceROSBridgeComp"
output="screen" args ="$(arg openrtm_args)" />
<node pkg="hrpsys_ros_bridge" name="AbsoluteForceSensorServiceROSBridge" type="AbsoluteForceSensorServiceROSBridgeComp"
<node pkg="hrpsys_ros_bridge" name="RemoveForceSensorLinkOffsetServiceROSBridge" type="RemoveForceSensorLinkOffsetServiceROSBridgeComp"
output="$(arg OUTPUT)" args="$(arg openrtm_args)" />

<rtconnect from="ImpedanceControllerServiceROSBridge.rtc:ImpedanceControllerService" to="ic.rtc:ImpedanceControllerService" subscription_type="new"/>
<rtactivate component="ImpedanceControllerServiceROSBridge.rtc" />
<rtconnect from="AbsoluteForceSensorServiceROSBridge.rtc:AbsoluteForceSensorService" to="afs.rtc:AbsoluteForceSensorService" subscription_type="new"/>
<rtactivate component="AbsoluteForceSensorServiceROSBridge.rtc" />
<rtconnect from="RemoveForceSensorLinkOffsetServiceROSBridge.rtc:RemoveForceSensorLinkOffsetService" to="rmfo.rtc:RemoveForceSensorLinkOffsetService" subscription_type="new"/>
<rtactivate component="RemoveForceSensorLinkOffsetServiceROSBridge.rtc" />
</group>

<!-- USE_GRASPCONTROLLER
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12 changes: 6 additions & 6 deletions hrpsys_ros_bridge/scripts/sensor_ros_bridge_connect.py
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Original file line number Diff line number Diff line change
Expand Up @@ -15,15 +15,15 @@

program_name = '[sensor_ros_bridge_connect.py] '

def connecSensorRosBridgePort(url, rh, bridge, vs, afs):
def connecSensorRosBridgePort(url, rh, bridge, vs, rmfo):
for sen in hcf.getSensors(url):
if sen.type in ['Acceleration', 'RateGyro', 'Force']:
if rh.port(sen.name) != None: # check existence of sensor ;; currently original HRP4C.xml has different naming rule of gsensor and gyrometer
print program_name, "connect ", sen.name, rh.port(sen.name).get_port_profile().name, bridge.port(sen.name).get_port_profile().name
connectPorts(rh.port(sen.name), bridge.port(sen.name), "new")
if sen.type == 'Force' and afs != None:
print program_name, "connect ", sen.name, afs.port("off_" + sen.name).get_port_profile().name, bridge.port("off_" + sen.name).get_port_profile().name
connectPorts(afs.port("off_" + sen.name), bridge.port("off_" + sen.name), "new") # for abs forces
if sen.type == 'Force' and rmfo != None:
print program_name, "connect ", sen.name, rmfo.port("off_" + sen.name).get_port_profile().name, bridge.port("off_" + sen.name).get_port_profile().name
connectPorts(rmfo.port("off_" + sen.name), bridge.port("off_" + sen.name), "new") # for abs forces
else:
continue
if vs != None:
Expand All @@ -40,8 +40,8 @@ def initSensorRosBridgeConnection(url, simulator_name, rosbridge_name, managerho
bridge = rtm.findRTC(rosbridge_name)
print program_name, " wait for ", rosbridge_name, " : ",bridge
vs=rtm.findRTC('vs')
afs=rtm.findRTC('afs')
connecSensorRosBridgePort(url, hcf.rh, bridge, vs, afs)
rmfo=rtm.findRTC('rmfo')
connecSensorRosBridgePort(url, hcf.rh, bridge, vs, rmfo)

if __name__ == '__main__':
print program_name, "start"
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