From 4a1ee2f36800e1120fa8a988ef6e504bbf22f227 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Damian=20Bara=C5=84ski?= Date: Tue, 3 Mar 2015 10:04:26 +0100 Subject: [PATCH] Add full support for gripper --- RosAria.cpp | 1125 +++++++++++++++++++++++++++------------------------ 1 file changed, 589 insertions(+), 536 deletions(-) diff --git a/RosAria.cpp b/RosAria.cpp index 3bbfa13..1a437a2 100644 --- a/RosAria.cpp +++ b/RosAria.cpp @@ -2,9 +2,9 @@ #include #include #ifdef ADEPT_PKG - #include +#include #else - #include +#include //Aria/Aria.h> #endif #include "ros/ros.h" @@ -37,11 +37,11 @@ // information, tutorials and documentation. class RosAriaNode { - public: +public: RosAriaNode(ros::NodeHandle n); virtual ~RosAriaNode(); - public: +public: int Setup(); void cmdvel_cb( const geometry_msgs::TwistConstPtr &); //void cmd_enable_motors_cb(); @@ -52,7 +52,7 @@ class RosAriaNode void dynamic_reconfigureCB(rosaria::RosAriaConfig &config, uint32_t level); void readParameters(); - protected: +protected: int WATCHDOG; ros::NodeHandle n; ros::Publisher pose_pub; @@ -83,6 +83,17 @@ class RosAriaNode bool stop_motors_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response); bool start_motors_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response); + //Gripper + ros::ServiceServer gripper_open_srv; + ros::ServiceServer gripper_close_srv; + ros::ServiceServer gripper_up_srv; + ros::ServiceServer gripper_down_srv; + + bool gripper_open_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response); + bool gripper_close_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response); + bool gripper_up_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response); + bool gripper_down_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response); + ros::Time veltime; std::string serial_port; @@ -109,10 +120,10 @@ class RosAriaNode std::string frame_id_sonar; // flag indicating whether sonar was enabled or disabled on the robot - bool sonar_enabled; + bool sonar_enabled; - // enable and publish sonar topics. set to true when first subscriber connects, set to false when last subscriber disconnects. - bool publish_sonar; + // enable and publish sonar topics. set to true when first subscriber connects, set to false when last subscriber disconnects. + bool publish_sonar; bool publish_sonar_pointcloud2; // Debug Aria @@ -128,573 +139,579 @@ class RosAriaNode //Damian zmienna mówiąca czy robot jest zatrzymany awaryjnie bool stop_robot; std_msgs::Bool stop_motors_msg; - + ros::Time watchdog; }; void RosAriaNode::readParameters() { - // Robot Parameters - robot->lock(); - ros::NodeHandle n_("~"); - if (n_.hasParam("TicksMM")) - { - n_.getParam( "TicksMM", TicksMM); - ROS_INFO("Setting TicksMM from ROS Parameter: %d", TicksMM); - robot->comInt(93, TicksMM); - } - else - { - TicksMM = robot->getOrigRobotConfig()->getTicksMM(); - n_.setParam( "TicksMM", TicksMM); - ROS_INFO("Setting TicksMM from robot controller stored configuration: %d", TicksMM); - } - - if (n_.hasParam("DriftFactor")) - { - n_.getParam( "DriftFactor", DriftFactor); - ROS_INFO("Setting DriftFactor from ROS Parameter: %d", DriftFactor); - robot->comInt(89, DriftFactor); - } - else - { - DriftFactor = robot->getOrigRobotConfig()->getDriftFactor(); - n_.setParam( "DriftFactor", DriftFactor); - ROS_INFO("Setting DriftFactor from robot controller stored configuration: %d", DriftFactor); - } - - if (n_.hasParam("RevCount")) - { - n_.getParam( "RevCount", RevCount); - ROS_INFO("Setting RevCount from ROS Parameter: %d", RevCount); - robot->comInt(88, RevCount); - } - else - { - RevCount = robot->getOrigRobotConfig()->getRevCount(); - n_.setParam( "RevCount", RevCount); - ROS_INFO("Setting RevCount from robot controller stored configuration: %d", RevCount); - } - if (n_.hasParam("WatchDog")) - { - n_.getParam( "WatchDog", WATCHDOG); - ROS_INFO("Setting WatchDog from ROS Parameter: %d", WATCHDOG); - } - else - { - n_.setParam( "WatchDog", WATCHDOG); - ROS_INFO("Setting default WatchDog : %d", WATCHDOG); - } - robot->unlock(); + // Robot Parameters + robot->lock(); + ros::NodeHandle n_("~"); + if (n_.hasParam("TicksMM")) + { + n_.getParam( "TicksMM", TicksMM); + ROS_INFO("Setting TicksMM from ROS Parameter: %d", TicksMM); + robot->comInt(93, TicksMM); + } + else + { + TicksMM = robot->getOrigRobotConfig()->getTicksMM(); + n_.setParam( "TicksMM", TicksMM); + ROS_INFO("Setting TicksMM from robot controller stored configuration: %d", TicksMM); + } + + if (n_.hasParam("DriftFactor")) + { + n_.getParam( "DriftFactor", DriftFactor); + ROS_INFO("Setting DriftFactor from ROS Parameter: %d", DriftFactor); + robot->comInt(89, DriftFactor); + } + else + { + DriftFactor = robot->getOrigRobotConfig()->getDriftFactor(); + n_.setParam( "DriftFactor", DriftFactor); + ROS_INFO("Setting DriftFactor from robot controller stored configuration: %d", DriftFactor); + } + + if (n_.hasParam("RevCount")) + { + n_.getParam( "RevCount", RevCount); + ROS_INFO("Setting RevCount from ROS Parameter: %d", RevCount); + robot->comInt(88, RevCount); + } + else + { + RevCount = robot->getOrigRobotConfig()->getRevCount(); + n_.setParam( "RevCount", RevCount); + ROS_INFO("Setting RevCount from robot controller stored configuration: %d", RevCount); + } + if (n_.hasParam("WatchDog")) + { + n_.getParam( "WatchDog", WATCHDOG); + ROS_INFO("Setting WatchDog from ROS Parameter: %d", WATCHDOG); + } + else + { + n_.setParam( "WatchDog", WATCHDOG); + ROS_INFO("Setting default WatchDog : %d", WATCHDOG); + } + robot->unlock(); } void RosAriaNode::dynamic_reconfigureCB(rosaria::RosAriaConfig &config, uint32_t level) { - // - // Odometry Settings - // - robot->lock(); - if(TicksMM != config.TicksMM and config.TicksMM > 0) - { - ROS_INFO("Setting TicksMM from Dynamic Reconfigure: %d -> %d ", TicksMM, config.TicksMM); - TicksMM = config.TicksMM; - robot->comInt(93, TicksMM); - } - - if(DriftFactor != config.DriftFactor) - { - ROS_INFO("Setting DriftFactor from Dynamic Reconfigure: %d -> %d ", DriftFactor, config.DriftFactor); - DriftFactor = config.DriftFactor; - robot->comInt(89, DriftFactor); - } - - if(RevCount != config.RevCount and config.RevCount > 0) - { - ROS_INFO("Setting RevCount from Dynamic Reconfigure: %d -> %d ", RevCount, config.RevCount); - RevCount = config.RevCount; - robot->comInt(88, RevCount); - } - - // - // Acceleration Parameters - // - int value; - value = config.trans_accel * 1000; - if(value != robot->getTransAccel() and value > 0) - { - ROS_INFO("Setting TransAccel from Dynamic Reconfigure: %d", value); - robot->setTransAccel(value); - } - - value = config.trans_decel * 1000; - if(value != robot->getTransDecel() and value > 0) - { - ROS_INFO("Setting TransDecel from Dynamic Reconfigure: %d", value); - robot->setTransDecel(value); - } - - value = config.lat_accel * 1000; - if(value != robot->getLatAccel() and value > 0) - { - ROS_INFO("Setting LatAccel from Dynamic Reconfigure: %d", value); - if (robot->getAbsoluteMaxLatAccel() > 0 ) - robot->setLatAccel(value); - } - - value = config.lat_decel * 1000; - if(value != robot->getLatDecel() and value > 0) - { - ROS_INFO("Setting LatDecel from Dynamic Reconfigure: %d", value); - if (robot->getAbsoluteMaxLatDecel() > 0 ) - robot->setLatDecel(value); - } - - value = config.rot_accel * 180/M_PI; - if(value != robot->getRotAccel() and value > 0) - { - ROS_INFO("Setting RotAccel from Dynamic Reconfigure: %d", value); - robot->setRotAccel(value); - } - - value = config.rot_decel * 180/M_PI; - if(value != robot->getRotDecel() and value > 0) - { - ROS_INFO("Setting RotDecel from Dynamic Reconfigure: %d", value); - robot->setRotDecel(value); - } - robot->unlock(); + // + // Odometry Settings + // + robot->lock(); + if(TicksMM != config.TicksMM and config.TicksMM > 0) + { + ROS_INFO("Setting TicksMM from Dynamic Reconfigure: %d -> %d ", TicksMM, config.TicksMM); + TicksMM = config.TicksMM; + robot->comInt(93, TicksMM); + } + + if(DriftFactor != config.DriftFactor) + { + ROS_INFO("Setting DriftFactor from Dynamic Reconfigure: %d -> %d ", DriftFactor, config.DriftFactor); + DriftFactor = config.DriftFactor; + robot->comInt(89, DriftFactor); + } + + if(RevCount != config.RevCount and config.RevCount > 0) + { + ROS_INFO("Setting RevCount from Dynamic Reconfigure: %d -> %d ", RevCount, config.RevCount); + RevCount = config.RevCount; + robot->comInt(88, RevCount); + } + + // + // Acceleration Parameters + // + int value; + value = config.trans_accel * 1000; + if(value != robot->getTransAccel() and value > 0) + { + ROS_INFO("Setting TransAccel from Dynamic Reconfigure: %d", value); + robot->setTransAccel(value); + } + + value = config.trans_decel * 1000; + if(value != robot->getTransDecel() and value > 0) + { + ROS_INFO("Setting TransDecel from Dynamic Reconfigure: %d", value); + robot->setTransDecel(value); + } + + value = config.lat_accel * 1000; + if(value != robot->getLatAccel() and value > 0) + { + ROS_INFO("Setting LatAccel from Dynamic Reconfigure: %d", value); + if (robot->getAbsoluteMaxLatAccel() > 0 ) + robot->setLatAccel(value); + } + + value = config.lat_decel * 1000; + if(value != robot->getLatDecel() and value > 0) + { + ROS_INFO("Setting LatDecel from Dynamic Reconfigure: %d", value); + if (robot->getAbsoluteMaxLatDecel() > 0 ) + robot->setLatDecel(value); + } + + value = config.rot_accel * 180/M_PI; + if(value != robot->getRotAccel() and value > 0) + { + ROS_INFO("Setting RotAccel from Dynamic Reconfigure: %d", value); + robot->setRotAccel(value); + } + + value = config.rot_decel * 180/M_PI; + if(value != robot->getRotDecel() and value > 0) + { + ROS_INFO("Setting RotDecel from Dynamic Reconfigure: %d", value); + robot->setRotDecel(value); + } + robot->unlock(); } void RosAriaNode::sonarConnectCb() { - publish_sonar = (sonar_pub.getNumSubscribers() > 0); - publish_sonar_pointcloud2 = (sonar_pointcloud2_pub.getNumSubscribers() > 0); - robot->lock(); - if (publish_sonar || publish_sonar_pointcloud2) - { - robot->enableSonar(); - sonar_enabled = false; - } - else if(!publish_sonar && !publish_sonar_pointcloud2) - { - robot->disableSonar(); - sonar_enabled = true; - } - robot->unlock(); + publish_sonar = (sonar_pub.getNumSubscribers() > 0); + publish_sonar_pointcloud2 = (sonar_pointcloud2_pub.getNumSubscribers() > 0); + robot->lock(); + if (publish_sonar || publish_sonar_pointcloud2) + { + robot->enableSonar(); + sonar_enabled = false; + } + else if(!publish_sonar && !publish_sonar_pointcloud2) + { + robot->disableSonar(); + sonar_enabled = true; + } + robot->unlock(); } RosAriaNode::RosAriaNode(ros::NodeHandle nh) : - myPublishCB(this, &RosAriaNode::publish), serial_port(""), serial_baud(0), - sonar_enabled(false), publish_sonar(false), publish_sonar_pointcloud2(false) + myPublishCB(this, &RosAriaNode::publish), serial_port(""), serial_baud(0), + sonar_enabled(false), publish_sonar(false), publish_sonar_pointcloud2(false) { - // read in runtime parameters - n = nh; + // read in runtime parameters + n = nh; - // port and baud - n.param( "port", serial_port, std::string("/dev/ttyUSB0") ); - ROS_INFO( "RosAria: using port: [%s]", serial_port.c_str() ); + // port and baud + n.param( "port", serial_port, std::string("/dev/ttyUSB0") ); + ROS_INFO( "RosAria: using port: [%s]", serial_port.c_str() ); - n.param("baud", serial_baud, 0); - if(serial_baud != 0) - ROS_INFO("RosAria: using serial port baud rate %d", serial_baud); + n.param("baud", serial_baud, 0); + if(serial_baud != 0) + ROS_INFO("RosAria: using serial port baud rate %d", serial_baud); - // handle debugging more elegantly - n.param( "debug_aria", debug_aria, false ); // default not to debug - n.param( "aria_log_filename", aria_log_filename, std::string("Aria.log") ); + // handle debugging more elegantly + n.param( "debug_aria", debug_aria, false ); // default not to debug + n.param( "aria_log_filename", aria_log_filename, std::string("Aria.log") ); - // Figure out what frame_id's to use. if a tf_prefix param is specified, - // it will be added to the beginning of the frame_ids. - // - // e.g. rosrun ... _tf_prefix:=MyRobot (or equivalently using s in - // roslaunch files) - // will result in the frame_ids being set to /MyRobot/odom etc, - // rather than /odom. This is useful for Multi Robot Systems. - // See ROS Wiki for further details. - tf_prefix = tf::getPrefixParam(n); - frame_id_odom = tf::resolve(tf_prefix, "odom"); - frame_id_base_link = tf::resolve(tf_prefix, "base_link"); - frame_id_bumper = tf::resolve(tf_prefix, "bumpers_frame"); - frame_id_sonar = tf::resolve(tf_prefix, "sonar_frame"); + // Figure out what frame_id's to use. if a tf_prefix param is specified, + // it will be added to the beginning of the frame_ids. + // + // e.g. rosrun ... _tf_prefix:=MyRobot (or equivalently using s in + // roslaunch files) + // will result in the frame_ids being set to /MyRobot/odom etc, + // rather than /odom. This is useful for Multi Robot Systems. + // See ROS Wiki for further details. + tf_prefix = tf::getPrefixParam(n); + frame_id_odom = tf::resolve(tf_prefix, "odom"); + frame_id_base_link = tf::resolve(tf_prefix, "base_link"); + frame_id_bumper = tf::resolve(tf_prefix, "bumpers_frame"); + frame_id_sonar = tf::resolve(tf_prefix, "sonar_frame"); - // advertise services for data topics - // second argument to advertise() is queue size. - // other argmuments (optional) are callbacks, or a boolean "latch" flag (whether to send current data to new - // subscribers when they subscribe). - // See ros::NodeHandle API docs. - pose_pub = n.advertise("pose",1000); - bumpers_pub = n.advertise("bumper_state",1000); - sonar_pub = n.advertise("sonar", 50, - boost::bind(&RosAriaNode::sonarConnectCb, this), - boost::bind(&RosAriaNode::sonarConnectCb, this)); - sonar_pointcloud2_pub = n.advertise("sonar_pointcloud2", 50, - boost::bind(&RosAriaNode::sonarConnectCb, this), - boost::bind(&RosAriaNode::sonarConnectCb, this)); + // advertise services for data topics + // second argument to advertise() is queue size. + // other argmuments (optional) are callbacks, or a boolean "latch" flag (whether to send current data to new + // subscribers when they subscribe). + // See ros::NodeHandle API docs. + pose_pub = n.advertise("pose",1000); + bumpers_pub = n.advertise("bumper_state",1000); + sonar_pub = n.advertise("sonar", 50, + boost::bind(&RosAriaNode::sonarConnectCb, this), + boost::bind(&RosAriaNode::sonarConnectCb, this)); + sonar_pointcloud2_pub = n.advertise("sonar_pointcloud2", 50, + boost::bind(&RosAriaNode::sonarConnectCb, this), + boost::bind(&RosAriaNode::sonarConnectCb, this)); - voltage_pub = n.advertise("battery_voltage", 1000); - recharge_state_pub = n.advertise("battery_recharge_state", 5, true /*latch*/ ); - recharge_state.data = -2; - state_of_charge_pub = n.advertise("battery_state_of_charge", 100); + voltage_pub = n.advertise("battery_voltage", 1000); + recharge_state_pub = n.advertise("battery_recharge_state", 5, true /*latch*/ ); + recharge_state.data = -2; + state_of_charge_pub = n.advertise("battery_state_of_charge", 100); - motors_state_pub = n.advertise("motors_state", 5, true /*latch*/ ); - stop_motors_pub = n.advertise("stop_motors_state", 5, true /*latch*/ ); - motors_state.data = false; - published_motors_state = false; - - // subscribe to services - cmdvel_sub = n.subscribe( "cmd_vel", 1, (boost::function ) - boost::bind(&RosAriaNode::cmdvel_cb, this, _1 )); + motors_state_pub = n.advertise("motors_state", 5, true /*latch*/ ); + stop_motors_pub = n.advertise("stop_motors_state", 5, true /*latch*/ ); + motors_state.data = false; + published_motors_state = false; + + // subscribe to services + cmdvel_sub = n.subscribe( "cmd_vel", 1, (boost::function ) + boost::bind(&RosAriaNode::cmdvel_cb, this, _1 )); + + // advertise enable/disable services + enable_srv = n.advertiseService("enable_motors", &RosAriaNode::enable_motors_cb, this); + disable_srv = n.advertiseService("disable_motors", &RosAriaNode::disable_motors_cb, this); + + //Damian Gripper + gripper_open_srv = n.advertiseService("gripper_open", &RosAriaNode::gripper_open_cb, this); + gripper_close_srv = n.advertiseService("gripper_close", &RosAriaNode::gripper_close_cb, this); + gripper_up_srv = n.advertiseService("gripper_up", &RosAriaNode::gripper_up_cb, this); + gripper_down_srv = n.advertiseService("gripper_down", &RosAriaNode::gripper_down_cb, this); + + //Damian usługi stopu awaryjnego + stop_motors_srv = n.advertiseService("stop_motors", &RosAriaNode::stop_motors_cb, this); + start_motors_srv = n.advertiseService("start_motors", &RosAriaNode::start_motors_cb, this); + stop_robot=false; + stop_motors_msg.data=false; + veltime = ros::Time::now(); - // advertise enable/disable services - enable_srv = n.advertiseService("enable_motors", &RosAriaNode::enable_motors_cb, this); - disable_srv = n.advertiseService("disable_motors", &RosAriaNode::disable_motors_cb, this); - - //Damian usługi stopu awaryjnego - stop_motors_srv = n.advertiseService("stop_motors", &RosAriaNode::stop_motors_cb, this); - start_motors_srv = n.advertiseService("start_motors", &RosAriaNode::start_motors_cb, this); - stop_robot=false; - stop_motors_msg.data=false; - veltime = ros::Time::now(); - gripper->gripOpen(); } RosAriaNode::~RosAriaNode() { - // disable motors and sonar. - robot->disableMotors(); - robot->disableSonar(); + // disable motors and sonar. + robot->disableMotors(); + robot->disableSonar(); - robot->stopRunning(); - robot->waitForRunExit(); - Aria::shutdown(); + robot->stopRunning(); + robot->waitForRunExit(); + Aria::shutdown(); } int RosAriaNode::Setup() { - WATCHDOG=1; - // Note, various objects are allocated here which are never deleted (freed), since Setup() is only supposed to be - // called once per instance, and these objects need to persist until the process terminates. + WATCHDOG=1; + // Note, various objects are allocated here which are never deleted (freed), since Setup() is only supposed to be + // called once per instance, and these objects need to persist until the process terminates. - robot = new ArRobot(); - ArArgumentBuilder *args = new ArArgumentBuilder(); // never freed - ArArgumentParser *argparser = new ArArgumentParser(args); // Warning never freed - argparser->loadDefaultArguments(); // adds any arguments given in /etc/Aria.args. Useful on robots with unusual serial port or baud rate (e.g. pioneer lx) + robot = new ArRobot(); + gripper = new ArGripper(robot); + ArArgumentBuilder *args = new ArArgumentBuilder(); // never freed + ArArgumentParser *argparser = new ArArgumentParser(args); // Warning never freed + argparser->loadDefaultArguments(); // adds any arguments given in /etc/Aria.args. Useful on robots with unusual serial port or baud rate (e.g. pioneer lx) - // Now add any parameters given via ros params (see RosAriaNode constructor): + // Now add any parameters given via ros params (see RosAriaNode constructor): - // if serial port parameter contains a ':' character, then interpret it as hostname:tcpport - // for wireless serial connection. Otherwise, interpret it as a serial port name. - size_t colon_pos = serial_port.find(":"); - if (colon_pos != std::string::npos) - { - args->add("-remoteHost"); // pass robot's hostname/IP address to Aria - args->add(serial_port.substr(0, colon_pos).c_str()); - args->add("-remoteRobotTcpPort"); // pass robot's TCP port to Aria - args->add(serial_port.substr(colon_pos+1).c_str()); - } - else - { - args->add("-robotPort"); // pass robot's serial port to Aria - args->add(serial_port.c_str()); - } + // if serial port parameter contains a ':' character, then interpret it as hostname:tcpport + // for wireless serial connection. Otherwise, interpret it as a serial port name. + size_t colon_pos = serial_port.find(":"); + if (colon_pos != std::string::npos) + { + args->add("-remoteHost"); // pass robot's hostname/IP address to Aria + args->add(serial_port.substr(0, colon_pos).c_str()); + args->add("-remoteRobotTcpPort"); // pass robot's TCP port to Aria + args->add(serial_port.substr(colon_pos+1).c_str()); + } + else + { + args->add("-robotPort"); // pass robot's serial port to Aria + args->add(serial_port.c_str()); + } - // if a baud rate was specified in baud parameter - if(serial_baud != 0) - { - args->add("-robotBaud"); - char tmp[100]; - snprintf(tmp, 100, "%d", serial_baud); - args->add(tmp); - } - - if( debug_aria ) - { - // turn on all ARIA debugging - args->add("-robotLogPacketsReceived"); // log received packets - args->add("-robotLogPacketsSent"); // log sent packets - args->add("-robotLogVelocitiesReceived"); // log received velocities - args->add("-robotLogMovementSent"); - args->add("-robotLogMovementReceived"); - ArLog::init(ArLog::File, ArLog::Verbose, aria_log_filename.c_str(), true); - } + // if a baud rate was specified in baud parameter + if(serial_baud != 0) + { + args->add("-robotBaud"); + char tmp[100]; + snprintf(tmp, 100, "%d", serial_baud); + args->add(tmp); + } + + if( debug_aria ) + { + // turn on all ARIA debugging + args->add("-robotLogPacketsReceived"); // log received packets + args->add("-robotLogPacketsSent"); // log sent packets + args->add("-robotLogVelocitiesReceived"); // log received velocities + args->add("-robotLogMovementSent"); + args->add("-robotLogMovementReceived"); + ArLog::init(ArLog::File, ArLog::Verbose, aria_log_filename.c_str(), true); + } - // Connect to the robot - conn = new ArRobotConnector(argparser, robot); // warning never freed - if (!conn->connectRobot()) { - ROS_ERROR("RosAria: ARIA could not connect to robot! (Check ~port parameter is correct, and permissions on port device.)"); - return 1; - } + // Connect to the robot + conn = new ArRobotConnector(argparser, robot); // warning never freed + if (!conn->connectRobot()) { + ROS_ERROR("RosAria: ARIA could not connect to robot! (Check ~port parameter is correct, and permissions on port device.)"); + return 1; + } - // causes ARIA to load various robot-specific hardware parameters from the robot parameter file in /usr/local/Aria/params - if(!Aria::parseArgs()) - { - ROS_ERROR("RosAria: ARIA error parsing ARIA startup parameters!"); - return 1; - } + // causes ARIA to load various robot-specific hardware parameters from the robot parameter file in /usr/local/Aria/params + if(!Aria::parseArgs()) + { + ROS_ERROR("RosAria: ARIA error parsing ARIA startup parameters!"); + return 1; + } - readParameters(); + readParameters(); - // Start dynamic_reconfigure server - dynamic_reconfigure_server = new dynamic_reconfigure::Server; - - // Setup Parameter Minimums - rosaria::RosAriaConfig dynConf_min; - dynConf_min.trans_accel = robot->getAbsoluteMaxTransAccel() / 1000; - dynConf_min.trans_decel = robot->getAbsoluteMaxTransDecel() / 1000; - // TODO: Fix rqt dynamic_reconfigure gui to handle empty intervals - // Until then, set unit length interval. - dynConf_min.lat_accel = ((robot->getAbsoluteMaxLatAccel() > 0.0) ? robot->getAbsoluteMaxLatAccel() : 0.1) / 1000; - dynConf_min.lat_decel = ((robot->getAbsoluteMaxLatDecel() > 0.0) ? robot->getAbsoluteMaxLatDecel() : 0.1) / 1000; - dynConf_min.rot_accel = robot->getAbsoluteMaxRotAccel() * M_PI/180; - dynConf_min.rot_decel = robot->getAbsoluteMaxRotDecel() * M_PI/180; - - // I'm setting these upper bounds relitivly arbitrarily, feel free to increase them. - dynConf_min.TicksMM = 10; - dynConf_min.DriftFactor = -200; - dynConf_min.RevCount = -32760; - - dynamic_reconfigure_server->setConfigMin(dynConf_min); - - - rosaria::RosAriaConfig dynConf_max; - dynConf_max.trans_accel = robot->getAbsoluteMaxTransAccel() / 1000; - dynConf_max.trans_decel = robot->getAbsoluteMaxTransDecel() / 1000; - // TODO: Fix rqt dynamic_reconfigure gui to handle empty intervals - // Until then, set unit length interval. - dynConf_max.lat_accel = ((robot->getAbsoluteMaxLatAccel() > 0.0) ? robot->getAbsoluteMaxLatAccel() : 0.1) / 1000; - dynConf_max.lat_decel = ((robot->getAbsoluteMaxLatDecel() > 0.0) ? robot->getAbsoluteMaxLatDecel() : 0.1) / 1000; - dynConf_max.rot_accel = robot->getAbsoluteMaxRotAccel() * M_PI/180; - dynConf_max.rot_decel = robot->getAbsoluteMaxRotDecel() * M_PI/180; - - // I'm setting these upper bounds relitivly arbitrarily, feel free to increase them. - dynConf_max.TicksMM = 200; - dynConf_max.DriftFactor = 200; - dynConf_max.RevCount = 32760; - - dynamic_reconfigure_server->setConfigMax(dynConf_max); - - - rosaria::RosAriaConfig dynConf_default; - dynConf_default.trans_accel = robot->getTransAccel() / 1000; - dynConf_default.trans_decel = robot->getTransDecel() / 1000; - dynConf_default.lat_accel = robot->getLatAccel() / 1000; - dynConf_default.lat_decel = robot->getLatDecel() / 1000; - dynConf_default.rot_accel = robot->getRotAccel() * M_PI/180; - dynConf_default.rot_decel = robot->getRotDecel() * M_PI/180; + // Start dynamic_reconfigure server + dynamic_reconfigure_server = new dynamic_reconfigure::Server; - dynConf_default.TicksMM = TicksMM; - dynConf_default.DriftFactor = DriftFactor; - dynConf_default.RevCount = RevCount; - - dynamic_reconfigure_server->setConfigDefault(dynConf_max); - - dynamic_reconfigure_server->setCallback(boost::bind(&RosAriaNode::dynamic_reconfigureCB, this, _1, _2)); + // Setup Parameter Minimums + rosaria::RosAriaConfig dynConf_min; + dynConf_min.trans_accel = robot->getAbsoluteMaxTransAccel() / 1000; + dynConf_min.trans_decel = robot->getAbsoluteMaxTransDecel() / 1000; + // TODO: Fix rqt dynamic_reconfigure gui to handle empty intervals + // Until then, set unit length interval. + dynConf_min.lat_accel = ((robot->getAbsoluteMaxLatAccel() > 0.0) ? robot->getAbsoluteMaxLatAccel() : 0.1) / 1000; + dynConf_min.lat_decel = ((robot->getAbsoluteMaxLatDecel() > 0.0) ? robot->getAbsoluteMaxLatDecel() : 0.1) / 1000; + dynConf_min.rot_accel = robot->getAbsoluteMaxRotAccel() * M_PI/180; + dynConf_min.rot_decel = robot->getAbsoluteMaxRotDecel() * M_PI/180; - // Enable the motors - robot->enableMotors(); + // I'm setting these upper bounds relitivly arbitrarily, feel free to increase them. + dynConf_min.TicksMM = 10; + dynConf_min.DriftFactor = -200; + dynConf_min.RevCount = -32760; - // disable sonars on startup - robot->disableSonar(); + dynamic_reconfigure_server->setConfigMin(dynConf_min); - // callback will be called by ArRobot background processing thread for every SIP data packet received from robot - robot->addSensorInterpTask("ROSPublishingTask", 100, &myPublishCB); - // Initialize bumpers with robot number of bumpers - bumpers.front_bumpers.resize(robot->getNumFrontBumpers()); - bumpers.rear_bumpers.resize(robot->getNumRearBumpers()); + rosaria::RosAriaConfig dynConf_max; + dynConf_max.trans_accel = robot->getAbsoluteMaxTransAccel() / 1000; + dynConf_max.trans_decel = robot->getAbsoluteMaxTransDecel() / 1000; + // TODO: Fix rqt dynamic_reconfigure gui to handle empty intervals + // Until then, set unit length interval. + dynConf_max.lat_accel = ((robot->getAbsoluteMaxLatAccel() > 0.0) ? robot->getAbsoluteMaxLatAccel() : 0.1) / 1000; + dynConf_max.lat_decel = ((robot->getAbsoluteMaxLatDecel() > 0.0) ? robot->getAbsoluteMaxLatDecel() : 0.1) / 1000; + dynConf_max.rot_accel = robot->getAbsoluteMaxRotAccel() * M_PI/180; + dynConf_max.rot_decel = robot->getAbsoluteMaxRotDecel() * M_PI/180; - // Run ArRobot background processing thread - robot->runAsync(true); + // I'm setting these upper bounds relitivly arbitrarily, feel free to increase them. + dynConf_max.TicksMM = 200; + dynConf_max.DriftFactor = 200; + dynConf_max.RevCount = 32760; - return 0; + dynamic_reconfigure_server->setConfigMax(dynConf_max); + + + rosaria::RosAriaConfig dynConf_default; + dynConf_default.trans_accel = robot->getTransAccel() / 1000; + dynConf_default.trans_decel = robot->getTransDecel() / 1000; + dynConf_default.lat_accel = robot->getLatAccel() / 1000; + dynConf_default.lat_decel = robot->getLatDecel() / 1000; + dynConf_default.rot_accel = robot->getRotAccel() * M_PI/180; + dynConf_default.rot_decel = robot->getRotDecel() * M_PI/180; + + dynConf_default.TicksMM = TicksMM; + dynConf_default.DriftFactor = DriftFactor; + dynConf_default.RevCount = RevCount; + + dynamic_reconfigure_server->setConfigDefault(dynConf_max); + + dynamic_reconfigure_server->setCallback(boost::bind(&RosAriaNode::dynamic_reconfigureCB, this, _1, _2)); + + // Enable the motors + robot->enableMotors(); + + // disable sonars on startup + robot->disableSonar(); + + // callback will be called by ArRobot background processing thread for every SIP data packet received from robot + robot->addSensorInterpTask("ROSPublishingTask", 100, &myPublishCB); + + // Initialize bumpers with robot number of bumpers + bumpers.front_bumpers.resize(robot->getNumFrontBumpers()); + bumpers.rear_bumpers.resize(robot->getNumRearBumpers()); + + // Run ArRobot background processing thread + robot->runAsync(true); + return 0; } void RosAriaNode::spin() { - ros::spin(); + ros::spin(); } void RosAriaNode::publish() { - // Note, this is called via SensorInterpTask callback (myPublishCB, named "ROSPublishingTask"). ArRobot object 'robot' sholud not be locked or unlocked. - pos = robot->getPose(); - tf::poseTFToMsg(tf::Transform(tf::createQuaternionFromYaw(pos.getTh()*M_PI/180), tf::Vector3(pos.getX()/1000, - pos.getY()/1000, 0)), position.pose.pose); //Aria returns pose in mm. - position.twist.twist.linear.x = robot->getVel()/1000; //Aria returns velocity in mm/s. - position.twist.twist.linear.y = robot->getLatVel()/1000.0; - position.twist.twist.angular.z = robot->getRotVel()*M_PI/180; - - position.header.frame_id = frame_id_odom; - position.child_frame_id = frame_id_base_link; - position.header.stamp = ros::Time::now(); - pose_pub.publish(position); + // Note, this is called via SensorInterpTask callback (myPublishCB, named "ROSPublishingTask"). ArRobot object 'robot' sholud not be locked or unlocked. + pos = robot->getPose(); + tf::poseTFToMsg(tf::Transform(tf::createQuaternionFromYaw(pos.getTh()*M_PI/180), tf::Vector3(pos.getX()/1000, + pos.getY()/1000, 0)), position.pose.pose); //Aria returns pose in mm. + position.twist.twist.linear.x = robot->getVel()/1000; //Aria returns velocity in mm/s. + position.twist.twist.linear.y = robot->getLatVel()/1000.0; + position.twist.twist.angular.z = robot->getRotVel()*M_PI/180; - ROS_DEBUG("RosAria: publish: (time %f) pose x: %f, y: %f, angle: %f; linear vel x: %f, y: %f; angular vel z: %f", - position.header.stamp.toSec(), - (double)position.pose.pose.position.x, - (double)position.pose.pose.position.y, - (double)position.pose.pose.orientation.w, - (double) position.twist.twist.linear.x, - (double) position.twist.twist.linear.y, - (double) position.twist.twist.angular.z - ); + position.header.frame_id = frame_id_odom; + position.child_frame_id = frame_id_base_link; + position.header.stamp = ros::Time::now(); + pose_pub.publish(position); + + ROS_DEBUG("RosAria: publish: (time %f) pose x: %f, y: %f, angle: %f; linear vel x: %f, y: %f; angular vel z: %f", + position.header.stamp.toSec(), + (double)position.pose.pose.position.x, + (double)position.pose.pose.position.y, + (double)position.pose.pose.orientation.w, + (double) position.twist.twist.linear.x, + (double) position.twist.twist.linear.y, + (double) position.twist.twist.angular.z + ); - // publishing transform odom->base_link - odom_trans.header.stamp = ros::Time::now(); - odom_trans.header.frame_id = frame_id_odom; - odom_trans.child_frame_id = frame_id_base_link; - - odom_trans.transform.translation.x = pos.getX()/1000; - odom_trans.transform.translation.y = pos.getY()/1000; - odom_trans.transform.translation.z = 0.0; - odom_trans.transform.rotation = tf::createQuaternionMsgFromYaw(pos.getTh()*M_PI/180); - - odom_broadcaster.sendTransform(odom_trans); - - // getStallValue returns 2 bytes with stall bit and bumper bits, packed as (00 00 FrontBumpers RearBumpers) - int stall = robot->getStallValue(); - unsigned char front_bumpers = (unsigned char)(stall >> 8); - unsigned char rear_bumpers = (unsigned char)(stall); + // publishing transform odom->base_link + odom_trans.header.stamp = ros::Time::now(); + odom_trans.header.frame_id = frame_id_odom; + odom_trans.child_frame_id = frame_id_base_link; - bumpers.header.frame_id = frame_id_bumper; - bumpers.header.stamp = ros::Time::now(); + odom_trans.transform.translation.x = pos.getX()/1000; + odom_trans.transform.translation.y = pos.getY()/1000; + odom_trans.transform.translation.z = 0.0; + odom_trans.transform.rotation = tf::createQuaternionMsgFromYaw(pos.getTh()*M_PI/180); - std::stringstream bumper_info(std::stringstream::out); - // Bit 0 is for stall, next bits are for bumpers (leftmost is LSB) - for (unsigned int i=0; igetNumFrontBumpers(); i++) - { - bumpers.front_bumpers[i] = (front_bumpers & (1 << (i+1))) == 0 ? 0 : 1; - bumper_info << " " << (front_bumpers & (1 << (i+1))); - } - ROS_DEBUG("RosAria: Front bumpers:%s", bumper_info.str().c_str()); + odom_broadcaster.sendTransform(odom_trans); - bumper_info.str(""); - // Rear bumpers have reverse order (rightmost is LSB) - unsigned int numRearBumpers = robot->getNumRearBumpers(); - for (unsigned int i=0; igetStallValue(); + unsigned char front_bumpers = (unsigned char)(stall >> 8); + unsigned char rear_bumpers = (unsigned char)(stall); - //Publish battery information - // TODO: Decide if BatteryVoltageNow (normalized to (0,12)V) is a better option - std_msgs::Float64 batteryVoltage; - batteryVoltage.data = robot->getRealBatteryVoltageNow(); - voltage_pub.publish(batteryVoltage); + bumpers.header.frame_id = frame_id_bumper; + bumpers.header.stamp = ros::Time::now(); - if(robot->haveStateOfCharge()) - { - std_msgs::Float32 soc; - soc.data = robot->getStateOfCharge()/100.0; - state_of_charge_pub.publish(soc); - } - - // publish recharge state if changed - char s = robot->getChargeState(); - if(s != recharge_state.data) - { - ROS_INFO("RosAria: publishing new recharge state %d.", s); - recharge_state.data = s; - recharge_state_pub.publish(recharge_state); - } - - // publish motors state if changed - bool e = robot->areMotorsEnabled(); - if(e != motors_state.data || !published_motors_state) - { - ROS_INFO("RosAria: publishing stop motors state %d.", e); - motors_state.data = e; - motors_state_pub.publish(motors_state); - published_motors_state = true; - } - - //Publikuje czy zatrzymane silniki - if(stop_robot) - { - ROS_INFO("RosAria: publishing new motors state %d.", stop_motors_msg.data); - stop_motors_pub.publish(stop_motors_msg); - stop_robot = false; - } - - // Publish sonar information, if enabled. - if (publish_sonar || publish_sonar_pointcloud2) - { - sensor_msgs::PointCloud cloud; //sonar readings. - cloud.header.stamp = position.header.stamp; //copy time. - // sonar sensors relative to base_link - cloud.header.frame_id = frame_id_sonar; - - - std::stringstream sonar_debug_info; // Log debugging info - sonar_debug_info << "Sonar readings: "; - - for (int i = 0; i < robot->getNumSonar(); i++) { - ArSensorReading* reading = NULL; - reading = robot->getSonarReading(i); - if(!reading) { - ROS_WARN("RosAria: Did not receive a sonar reading."); - continue; - } - - // getRange() will return an integer between 0 and 5000 (5m) - sonar_debug_info << reading->getRange() << " "; - - // local (x,y). Appears to be from the centre of the robot, since values may - // exceed 5000. This is good, since it means we only need 1 transform. - // x & y seem to be swapped though, i.e. if the robot is driving north - // x is north/south and y is east/west. - // - //ArPose sensor = reading->getSensorPosition(); //position of sensor. - // sonar_debug_info << "(" << reading->getLocalX() - // << ", " << reading->getLocalY() - // << ") from (" << sensor.getX() << ", " - // << sensor.getY() << ") ;; " ; - - //add sonar readings (robot-local coordinate frame) to cloud - geometry_msgs::Point32 p; - p.x = reading->getLocalX() / 1000.0; - p.y = reading->getLocalY() / 1000.0; - p.z = 0.0; - cloud.points.push_back(p); - } - ROS_DEBUG_STREAM(sonar_debug_info.str()); - - // publish topic(s) - - if(publish_sonar_pointcloud2) + std::stringstream bumper_info(std::stringstream::out); + // Bit 0 is for stall, next bits are for bumpers (leftmost is LSB) + for (unsigned int i=0; igetNumFrontBumpers(); i++) { - sensor_msgs::PointCloud2 cloud2; - if(!sensor_msgs::convertPointCloudToPointCloud2(cloud, cloud2)) - { - ROS_WARN("Error converting sonar point cloud message to point_cloud2 type before publishing! Not publishing this time."); - } - else - { - sonar_pointcloud2_pub.publish(cloud2); - } + bumpers.front_bumpers[i] = (front_bumpers & (1 << (i+1))) == 0 ? 0 : 1; + bumper_info << " " << (front_bumpers & (1 << (i+1))); } + ROS_DEBUG("RosAria: Front bumpers:%s", bumper_info.str().c_str()); - if(publish_sonar) + bumper_info.str(""); + // Rear bumpers have reverse order (rightmost is LSB) + unsigned int numRearBumpers = robot->getNumRearBumpers(); + for (unsigned int i=0; icomInt(ArCommands::ESTOP,0); + bumpers_pub.publish(bumpers); + + //Publish battery information + // TODO: Decide if BatteryVoltageNow (normalized to (0,12)V) is a better option + std_msgs::Float64 batteryVoltage; + batteryVoltage.data = robot->getRealBatteryVoltageNow(); + voltage_pub.publish(batteryVoltage); + + if(robot->haveStateOfCharge()) + { + std_msgs::Float32 soc; + soc.data = robot->getStateOfCharge()/100.0; + state_of_charge_pub.publish(soc); + } + + // publish recharge state if changed + char s = robot->getChargeState(); + if(s != recharge_state.data) + { + ROS_INFO("RosAria: publishing new recharge state %d.", s); + recharge_state.data = s; + recharge_state_pub.publish(recharge_state); + } + + // publish motors state if changed + bool e = robot->areMotorsEnabled(); + if(e != motors_state.data || !published_motors_state) + { + ROS_INFO("RosAria: publishing stop motors state %d.", e); + motors_state.data = e; + motors_state_pub.publish(motors_state); + published_motors_state = true; + } + + //Publikuje czy zatrzymane silniki + if(stop_robot) + { + ROS_INFO("RosAria: publishing new motors state %d.", stop_motors_msg.data); + stop_motors_pub.publish(stop_motors_msg); + stop_robot = false; + } + + // Publish sonar information, if enabled. + if (publish_sonar || publish_sonar_pointcloud2) + { + sensor_msgs::PointCloud cloud; //sonar readings. + cloud.header.stamp = position.header.stamp; //copy time. + // sonar sensors relative to base_link + cloud.header.frame_id = frame_id_sonar; + + + std::stringstream sonar_debug_info; // Log debugging info + sonar_debug_info << "Sonar readings: "; + + for (int i = 0; i < robot->getNumSonar(); i++) { + ArSensorReading* reading = NULL; + reading = robot->getSonarReading(i); + if(!reading) { + ROS_WARN("RosAria: Did not receive a sonar reading."); + continue; + } + + // getRange() will return an integer between 0 and 5000 (5m) + sonar_debug_info << reading->getRange() << " "; + + // local (x,y). Appears to be from the centre of the robot, since values may + // exceed 5000. This is good, since it means we only need 1 transform. + // x & y seem to be swapped though, i.e. if the robot is driving north + // x is north/south and y is east/west. + // + //ArPose sensor = reading->getSensorPosition(); //position of sensor. + // sonar_debug_info << "(" << reading->getLocalX() + // << ", " << reading->getLocalY() + // << ") from (" << sensor.getX() << ", " + // << sensor.getY() << ") ;; " ; + + //add sonar readings (robot-local coordinate frame) to cloud + geometry_msgs::Point32 p; + p.x = reading->getLocalX() / 1000.0; + p.y = reading->getLocalY() / 1000.0; + p.z = 0.0; + cloud.points.push_back(p); + } + ROS_DEBUG_STREAM(sonar_debug_info.str()); + + // publish topic(s) + + if(publish_sonar_pointcloud2) + { + sensor_msgs::PointCloud2 cloud2; + if(!sensor_msgs::convertPointCloudToPointCloud2(cloud, cloud2)) + { + ROS_WARN("Error converting sonar point cloud message to point_cloud2 type before publishing! Not publishing this time."); + } + else + { + sonar_pointcloud2_pub.publish(cloud2); + } + } + + if(publish_sonar) + { + sonar_pub.publish(cloud); + } + } // end if sonar_enabled + + if(watchdog.toSec()+WATCHDOGcomInt(ArCommands::ESTOP,0); robot->setVel(0); - if(robot->hasLatVel()) - robot->setLatVel(0); - robot->setRotVel(0); - // ROS_INFO("WATCHDOG %d", WATCHDOG); - } + if(robot->hasLatVel()) + robot->setLatVel(0); + robot->setRotVel(0); + // ROS_INFO("WATCHDOG %d", WATCHDOG); + } } bool RosAriaNode::enable_motors_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response) @@ -705,7 +722,7 @@ bool RosAriaNode::enable_motors_cb(std_srvs::Empty::Request& request, std_srvs:: ROS_WARN("RosAria: Warning: Enable motors requested, but robot also has E-Stop button pressed. Motors will not enable."); robot->enableMotors(); robot->unlock(); - // todo could wait and see if motors do become enabled, and send a response with an error flag if not + // todo could wait and see if motors do become enabled, and send a response with an error flag if not return true; } @@ -715,7 +732,7 @@ bool RosAriaNode::disable_motors_cb(std_srvs::Empty::Request& request, std_srvs: robot->lock(); robot->disableMotors(); robot->unlock(); - // todo could wait and see if motors do become disabled, and send a response with an error flag if not + // todo could wait and see if motors do become disabled, and send a response with an error flag if not return true; } @@ -741,7 +758,7 @@ bool RosAriaNode::stop_motors_cb(std_srvs::Empty::Request& request, std_srvs::Em //Zatrzymuje robota robot->setVel(0); if(robot->hasLatVel()) - robot->setLatVel(0); + robot->setLatVel(0); robot->setRotVel(0); robot->comInt(ArCommands::ESTOP,0); @@ -749,48 +766,84 @@ bool RosAriaNode::stop_motors_cb(std_srvs::Empty::Request& request, std_srvs::Em robot->unlock(); return true; } -void -RosAriaNode::cmdvel_cb( const geometry_msgs::TwistConstPtr &msg) +bool RosAriaNode::gripper_open_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response) { - veltime = ros::Time::now(); - watchdog= ros::Time::now(); - if(stop_motors_msg.data) - { - ROS_INFO( "new speed: [%0.2f,%0.2f](%0.3f) but robot is stop", msg->linear.x*1e3, msg->angular.z, veltime.toSec() ); - return; - } - ROS_INFO( "new speed: [%0.2f,%0.2f](%0.3f)", msg->linear.x*1e3, msg->angular.z, veltime.toSec() ); + robot->lock(); + gripper->gripOpen(); + ROS_INFO("RosAria: Gripper opening."); + robot->unlock(); + return true; +} - robot->lock(); - robot->setVel(msg->linear.x*1e3); - if(robot->hasLatVel()) - robot->setLatVel(msg->linear.y*1e3); - robot->setRotVel(msg->angular.z*180/M_PI); - robot->unlock(); - ROS_DEBUG("RosAria: sent vels to to aria (time %f): x vel %f mm/s, y vel %f mm/s, ang vel %f deg/s", veltime.toSec(), - (double) msg->linear.x * 1e3, (double) msg->linear.y * 1.3, (double) msg->angular.z * 180/M_PI); +bool RosAriaNode::gripper_close_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response) +{ + robot->lock(); + gripper->gripClose(); + ROS_INFO("RosAria: Gripper closing."); + robot->unlock(); + return true; +} + +bool RosAriaNode::gripper_up_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response) +{ + robot->lock(); + gripper->liftUp(); + ROS_INFO("RosAria: Gripper moving up"); + robot->unlock(); + return true; +} + +bool RosAriaNode::gripper_down_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response) +{ + robot->lock(); + gripper->liftDown(); + ROS_INFO("RosAria: Gripper moving down."); + robot->unlock(); + return true; +} + + +void RosAriaNode::cmdvel_cb( const geometry_msgs::TwistConstPtr &msg) +{ + veltime = ros::Time::now(); + watchdog= ros::Time::now(); + if(stop_motors_msg.data) + { + ROS_INFO( "new speed: [%0.2f,%0.2f](%0.3f) but robot is stop", msg->linear.x*1e3, msg->angular.z, veltime.toSec() ); + return; + } + ROS_INFO( "new speed: [%0.2f,%0.2f](%0.3f)", msg->linear.x*1e3, msg->angular.z, veltime.toSec() ); + + robot->lock(); + robot->setVel(msg->linear.x*1e3); + if(robot->hasLatVel()) + robot->setLatVel(msg->linear.y*1e3); + robot->setRotVel(msg->angular.z*180/M_PI); + robot->unlock(); + ROS_DEBUG("RosAria: sent vels to to aria (time %f): x vel %f mm/s, y vel %f mm/s, ang vel %f deg/s", veltime.toSec(), + (double) msg->linear.x * 1e3, (double) msg->linear.y * 1.3, (double) msg->angular.z * 180/M_PI); } int main( int argc, char** argv ) { - ros::init(argc,argv, "RosAria"); - ros::NodeHandle n(std::string("~")); - Aria::init(); + ros::init(argc,argv, "RosAria"); + ros::NodeHandle n(std::string("~")); + Aria::init(); - RosAriaNode *node = new RosAriaNode(n); + RosAriaNode *node = new RosAriaNode(n); - if( node->Setup() != 0 ) - { - ROS_FATAL( "RosAria: ROS node setup failed... \n" ); - return -1; - } + if( node->Setup() != 0 ) + { + ROS_FATAL( "RosAria: ROS node setup failed... \n" ); + return -1; + } - node->spin(); + node->spin(); - delete node; + delete node; + + ROS_INFO( "RosAria: Quitting... \n" ); + return 0; - ROS_INFO( "RosAria: Quitting... \n" ); - return 0; - }