Revision e8e20dfe

View differences:

examples/meka/src/main.cpp
23 23 
*/
24 24 

  		




  25
  25
  
    
    //create humotion interface


  		




  26
  
  
    
    string scope = "/xsc3/";


  		




  
  26
  
    
    string scope = "/";


  		




  27
  27
  
    
    MekaJointInterface *jointinterface = new MekaJointInterface(scope);


  		




  28
  28
  
    
    humotion::server::Server *humotion_server = new humotion::server::Server("/flobi", "ROS", jointinterface);


  		




  29
  29
  
    

  		












  

    
      examples/meka/src/mekajointinterface.cpp
    
  





  14
  14
  
    
        //printf("incoming data for joint '%s'\n", name.c_str());


  		




  15
  15
  
    

  		




  16
  16
  
    
        int id = -1;


  		




  17
  
  
    
        if (name == "NECK_PAN"){


  		




  
  17
  
    
        if (name == "head_j1"){


  		




  18
  18
  
    
            id = ID_NECK_PAN;


  		




  19
  
  
    
        }else if(name == "NECK_TILT"){


  		




  
  19
  
    
        }else if(name == "head_j0"){


  		




  20
  20
  
    
            id = ID_NECK_TILT;


  		




  21
  21
  
    
        }


  		




  22
  22
  
    

  		




  ......




  132
  132
  
    
    msg.joint_names.push_back("head_j0");


  		




  133
  133
  
    
    msg.joint_names.push_back("head_j1");


  		




  134
  134
  
    

  		




  135
  
  
    
    trajectory_msgs::JointTrajectoryPoint p[2];


  		




  136
  
  
    
    p[0].positions.push_back(joint_target[ID_NECK_PAN] * M_PI / 180.0);


  		




  137
  
  
    
    p[1].positions.push_back(joint_target[ID_NECK_TILT]* M_PI / 180.0);


  		




  
  135
  
    
    trajectory_msgs::JointTrajectoryPoint p;


  		




  
  136
  
    
    p.positions.push_back(joint_target[ID_NECK_TILT] * M_PI / 180.0);


  		




  
  137
  
    
    p.positions.push_back(joint_target[ID_NECK_PAN] * M_PI / 180.0);


  		




  138
  138
  
    

  		




  139
  
  
    
    p[0].time_from_start = ros::Duration(1.2 * 1.0 / humotion::server::Server::MOTION_UPDATERATE);


  		




  140
  
  
    
    p[1].time_from_start = ros::Duration(1.2 * 1.0 / humotion::server::Server::MOTION_UPDATERATE);


  		




  
  139
  
    
    p.time_from_start = ros::Duration(1.2 * 1.0 / humotion::server::Server::MOTION_UPDATERATE);


  		




  
  140
  
    
    p.time_from_start = ros::Duration(1.2 * 1.0 / humotion::server::Server::MOTION_UPDATERATE);


  		




  141
  141
  
    

  		




  142
  
  
    
    msg.points.push_back(p[0]);


  		




  143
  
  
    
    msg.points.push_back(p[1]);


  		




  
  142
  
    
    msg.points.push_back(p);


  		




  144
  143
  
    

  		




  145
  144
  
    
    target_publisher.publish(msg);


  		




  146
  145
  
    

  		












Also available in:  Unified diff