Revision dff8ce51

View differences:

examples/meka/src/main.cpp
43 43 
        usleep(100000);
44 44 
    }
45 45 

  		




  
  46
  
    
    printf("> ros connection died, will exit now\n");


  		




  
  47
  
    

  		




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    return 0;


  		




  47
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}


  		












  

    
      examples/meka/src/mekajointinterface.cpp
    
  





  64
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    ros::init(argc, (char**)NULL, "meka_humotion");


  		




  65
  65
  
    
    ros::NodeHandle n;


  		




  66
  66
  
    

  		




  67
  
  
    

  		




  68
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    printf("> listening on jointstates on '%s'\n",input_scope.c_str());


  		




  69
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    joint_state_subscriber = n.subscribe(input_scope, 150, &MekaJointInterface::incoming_jointstates , this);


  		




  70
  69
  
    

  		




  71
  70
  
    
    printf("> sending targets on '%s'\n", output_scope.c_str());


  		




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    target_publisher = n.advertise<trajectory_msgs::JointTrajectory>(output_scope, 100);


  		




  73
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  74
  
  
    

  		




  75
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    //tell humotion about min/max joint values:


  		




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    init_joints();


  		




  77
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}


  		












  

    
      src/server/middleware_ros.cpp
    
  





  38
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  39
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//! constructor


  		




  40
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MiddlewareROS::MiddlewareROS(string scope, Controller *c) : Middleware(scope, c){


  		




  41
  
  
    

  		




  
  41
  
    
    printf("> using ROS middleware\n");


  		




  42
  42
  
    

  		




  43
  43
  
    
    //start ros core?


  		




  44
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    if (ros::isInitialized()){


  		




  45
  
  
    
       //oh another process is doing ros comm, fine, we do not need to call it


  		




  
  45
  
    
        //oh another process is doing ros comm, fine, we do not need to call it


  		




  46
  46
  
    
        tick_necessary = false;


  		




  47
  47
  
    
    }else{


  		




  48
  48
  
    
        //we have to take care of ros


  		












  

    
      src/server/middleware_rsb.cpp
    
  





  48
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  49
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//! constructor


  		




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MiddlewareRSB::MiddlewareRSB(string scope, Controller *c) : Middleware(scope, c){


  		




  
  51
  
    
    printf("> using RSB middleware\n");


  		




  51
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    printf("> registering converters\n");


  		




  52
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  53
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    //converter for GazeTarget


  		












  

    
      src/server/server.cpp
    
  





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    //calculate loop delay:


  		




  98
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    float loop_delay = 1000.0 / MOTION_UPDATERATE;


  		




  99
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    boost::system_time timeout = get_system_time() + posix_time::milliseconds(loop_delay);


  		




  100
  
  
    

  		




  
  100
  
    
/*


  		




  101
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    //wait for incoming joint data:


  		




  102
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    while (middleware->ok()){


  		




  103
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        //mw tick


  		




  ......




  120
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    }


  		




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    printf("> joint data arrived, will activate control loop now.\n");


  		




  123
  
  
    

  		




  
  123
  
    
*/


  		




  124
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    //fine, data is arriving, activate and run control loop:


  		




  125
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    while (middleware->ok()){


  		




  126
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        //mw tick


  		












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