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added untested simplified coppelia mirror node

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qlin960618
2024-08-12 16:21:09 +09:00
parent 1f842c9ba0
commit 7164bdf59d
3 changed files with 252 additions and 291 deletions
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34
src/sas_robot_driver_coppelia_node.cpp
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@@ -26,6 +26,8 @@
# 1. Juan Jose Quiroz Omana (juanjqogm@gmail.com)
# - Adapted from sas_robot_driver_denso_node.cpp
# (https://github.com/SmartArmStack/sas_robot_driver_denso/blob/master/src/sas_robot_driver_denso_node.cpp)
# 2. Quentin Lin (qlin1806@g.ecc.u-tokyo.ac.jp)
-Adapted for simplify operation
#
# ################################################################
*/
@@ -61,25 +63,23 @@ int main(int argc, char **argv)
ros::init(argc, argv, "sas_robot_driver_coppelia_node", ros::init_options::NoSigintHandler);
ROS_WARN("=====================================================================");
ROS_WARN("----------------------Juan Jose Quiroz Omana------------------------");
ROS_WARN("--------------------- Quentin Lin -----------------------------------");
ROS_WARN("=====================================================================");
ROS_INFO_STREAM(ros::this_node::getName()+"::Loading parameters from parameter server.");
ros::NodeHandle nh;
sas::RobotDriverCoppeliaConfiguration robot_driver_coppelia_configuration;
sas::get_ros_param(nh,"/robot_ip_address",robot_driver_coppelia_configuration.ip);
sas::get_ros_param(nh,"/robot_mode", robot_driver_coppelia_configuration.robot_mode);
sas::get_ros_param(nh,"/vrep_port", robot_driver_coppelia_configuration.port);
sas::get_ros_param(nh,"/vrep_robot_joint_names", robot_driver_coppelia_configuration.jointnames);
sas::get_ros_param(nh,"/mirror_mode", robot_driver_coppelia_configuration.mirror_mode);
sas::get_ros_param(nh, "/real_robot_topic_prefix", robot_driver_coppelia_configuration.real_robot_topic_prefix);
sas::RobotDriverROSConfiguration robot_driver_ros_configuration;
sas::get_ros_param(nh,"/thread_sampling_time_nsec",robot_driver_ros_configuration.thread_sampling_time_nsec);
sas::get_ros_param(nh,"/q_min",robot_driver_ros_configuration.q_min);
sas::get_ros_param(nh,"/q_max",robot_driver_ros_configuration.q_max);
sas::get_ros_param(nh,"/thread_sampling_time_nsec",robot_driver_coppelia_configuration.thread_sampling_time_nsec);
sas::get_ros_param(nh,"/vrep_ip",robot_driver_coppelia_configuration.vrep_ip);
sas::get_ros_param(nh,"/vrep_port",robot_driver_coppelia_configuration.vrep_port);
sas::get_ros_param(nh,"/vrep_joint_names", robot_driver_coppelia_configuration.vrep_joint_names);
sas::get_ros_param(nh,"/vrep_dynamically_enabled", robot_driver_coppelia_configuration.vrep_dynamically_enabled);
sas::get_ros_param(nh,"/robot_mode", robot_driver_coppelia_configuration.robot_mode);
sas::get_ros_param(nh,"/using_real_robot", robot_driver_coppelia_configuration.using_real_robot);
sas::get_ros_param(nh,"/robot_topic_prefix", robot_driver_coppelia_configuration.robot_topic_prefix);
sas::get_ros_param(nh,"/q_min", robot_driver_coppelia_configuration.q_min);
sas::get_ros_param(nh,"/q_max", robot_driver_coppelia_configuration.q_max);
robot_driver_ros_configuration.robot_driver_provider_prefix = ros::this_node::getName();
@@ -88,12 +88,8 @@ int main(int argc, char **argv)
ROS_INFO_STREAM(ros::this_node::getName()+"::Instantiating Coppelia robot.");
sas::RobotDriverCoppelia robot_driver_coppelia(robot_driver_coppelia_configuration,
&kill_this_process);
ROS_INFO_STREAM(ros::this_node::getName()+"::Instantiating RobotDriverROS.");
sas::RobotDriverROS robot_driver_ros(nh,
&robot_driver_coppelia,
robot_driver_ros_configuration,
&kill_this_process);
robot_driver_ros.control_loop();
return robot_driver_coppelia.start_control_loop();
}
catch (const std::exception& e)
{