--- /dev/null
+cmake_minimum_required(VERSION 2.8.3)
+project(wam_node_test)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ roscpp
+# wam_node
+ wam_node_sim
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES wam_node_test
+# CATKIN_DEPENDS roscpp wam_node wam_node_sim
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+ ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/wam_node_test.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+add_executable(${PROJECT_NAME} src/wam_node_test.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(${PROJECT_NAME}
+ ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_wam_node_test.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
--- /dev/null
+<?xml version="1.0"?>
+<package>
+ <name>wam_node_test</name>
+ <version>0.0.0</version>
+ <description>The wam_node_test package</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
+
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>GPLv3</license>
+
+
+ <!-- Url tags are optional, but multiple are allowed, one per tag -->
+ <!-- Optional attribute type can be: website, bugtracker, or repository -->
+ <!-- Example: -->
+ <!-- <url type="website">http://wiki.ros.org/wam_node_test</url> -->
+
+
+ <!-- Author tags are optional, multiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintainers, but could be -->
+ <!-- Example: -->
+ <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+ <author email="fetter@ece.ufrgs.br">Walter Fetter Lages</author>
+
+
+ <!-- The *_depend tags are used to specify dependencies -->
+ <!-- Dependencies can be catkin packages or system dependencies -->
+ <!-- Examples: -->
+ <!-- Use build_depend for packages you need at compile time: -->
+ <!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use buildtool_depend for build tool packages: -->
+ <!-- <buildtool_depend>catkin</buildtool_depend> -->
+ <!-- Use run_depend for packages you need at runtime: -->
+ <!-- <run_depend>message_runtime</run_depend> -->
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+ <build_depend>roscpp</build_depend>
+ <!-- <build_depend>wam_node</build_depend> -->
+ <build_depend>wam_node_sim</build_depend>
+ <run_depend>roscpp</run_depend>
+ <!-- <run_depend>wam_node</run_depend> -->
+ <run_depend>wam_node_sim</run_depend>
+
+
+ <!-- The export tag contains other, unspecified, tags -->
+ <export>
+ <!-- Other tools can request additional information be placed here -->
+
+ </export>
+</package>
--- /dev/null
+/******************************************************************************
+ Node to test the wam_node
+ Copyright (C) 2018 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************/
+
+#include <atomic>
+#include <thread>
+
+#include <ros/ros.h>
+#include <sensor_msgs/JointState.h>
+
+#include <wam_msgs/RTJointPos.h>
+#include <wam_srvs/BHandFingerPos.h>
+#include <wam_srvs/BHandSpreadPos.h>
+
+#define sqr(x) ((x)*(x))
+
+class WamNodeTest
+{
+ public:
+ WamNodeTest(const ros::NodeHandle &node);
+ ~WamNodeTest(void);
+ void wamMove(const std::vector<float> &jpCmd);
+ void wamWait(const std::vector<float> &jpCmd) const;
+ void fingerMove(double f1,double f2,double f3);
+ void fingerMove(double finger);
+ void fingerWait(double f1,double f2,double f3) const;
+ void fingerWait(double finger) const;
+ void spreadMove(double spread)
+ ;
+ void spreadWait(double spread) const;
+ void update(void) const;
+ void test(void);
+
+ private:
+
+ void jointStatesCB(const sensor_msgs::JointState &jointStates);
+
+ ros::NodeHandle node_;
+ ros::Publisher jointPosPub_;
+ ros::Subscriber jointStatesSub_;
+
+ ros::ServiceClient fingerPosCli_;
+ ros::ServiceClient spreadPosCli_;
+
+ std::vector< std::atomic<float> > jpCmd_;
+ std::vector< std::atomic<float> > wamJp_;
+ std::vector< std::atomic<float> > bhandJp_;
+
+};
+
+WamNodeTest::WamNodeTest(const ros::NodeHandle &node):jpCmd_(7), wamJp_(7), bhandJp_(4)
+{
+ node_=node;
+ jointPosPub_=node_.advertise<wam_msgs::RTJointPos>("wam/jnt_pos_cmd",10);
+ fingerPosCli_=node_.serviceClient<wam_srvs::BHandFingerPos>("bhand/finger_pos");
+ spreadPosCli_=node_.serviceClient<wam_srvs::BHandSpreadPos>("bhand/spread_pos");
+ jointStatesSub_=node_.subscribe("/joint_states",10,&WamNodeTest::jointStatesCB,this);
+}
+
+WamNodeTest::~WamNodeTest(void)
+{
+ jointPosPub_.shutdown();
+ jointStatesSub_.shutdown();
+}
+
+void WamNodeTest::wamMove(const std::vector<float> &jpCmd)
+{
+ for(int i=0;i < jpCmd_.size() && i < jpCmd.size();i++) jpCmd_[i]=jpCmd[i];
+}
+
+void WamNodeTest::wamWait(const std::vector<float> &jpCmd) const
+{
+ float error;
+ do
+ {
+ ros::Duration(0.01).sleep();
+ error=0.0;
+ for(int i=0;i < wamJp_.size() && i < jpCmd.size();i++)
+ error+=sqr(wamJp_[i]-jpCmd[i]);
+ }
+ while(error > 0.07);
+}
+
+void WamNodeTest::fingerMove(double f1,double f2,double f3)
+{
+ wam_srvs::BHandFingerPos fingerPosSrv;
+
+ fingerPosSrv.request.radians[0]=f1;;
+ fingerPosSrv.request.radians[1]=f2;
+ fingerPosSrv.request.radians[2]=f3;
+ if(fingerPosCli_.call(fingerPosSrv)) ROS_INFO_STREAM("Finger move to " << f1 << " " << f2 << " " << f3);
+ else ROS_ERROR_STREAM("Error in finger move.");
+}
+
+void WamNodeTest::fingerWait(double f1,double f2,double f3) const
+{
+ float error;
+ do
+ {
+ ros::Duration(0.01).sleep();
+ error=sqr(f1-bhandJp_[0])+sqr(f2-bhandJp_[1])+sqr(f3-bhandJp_[2]);
+ }
+ while(error > 0.03);
+}
+
+void WamNodeTest::fingerWait(double finger) const
+{
+ fingerWait(finger,finger,finger);
+}
+
+
+void WamNodeTest::fingerMove(double finger)
+{
+ fingerMove(finger,finger,finger);
+}
+
+void WamNodeTest::spreadMove(double spread)
+{
+ wam_srvs::BHandSpreadPos spreadPosSrv;
+
+ spreadPosSrv.request.radians=spread;
+ if(spreadPosCli_.call(spreadPosSrv)) ROS_INFO_STREAM("Spread move to " << spread);
+ else ROS_ERROR_STREAM("Error in spread move.");
+}
+
+void WamNodeTest::spreadWait(double spread) const
+{
+ float error;
+ do
+ {
+ ros::Duration(0.01).sleep();
+ error=sqr(spread-bhandJp_[3]);
+ }
+ while(error > 0.01);
+}
+
+void WamNodeTest::update(void) const
+{
+ wam_msgs::RTJointPos jointPosMsg;
+
+ for(int i=0;i < jpCmd_.size();i++) jointPosMsg.joints.push_back(jpCmd_[i]);
+ jointPosMsg.rate_limits.resize(jpCmd_.size(),0.5);
+ jointPosPub_.publish(jointPosMsg);
+}
+
+void WamNodeTest::jointStatesCB(const sensor_msgs::JointState &jointStates)
+{
+ std::vector<std::string> jointNames;
+ jointNames.push_back("wam_joint_1");
+ jointNames.push_back("wam_joint_2");
+ jointNames.push_back("wam_joint_3");
+ jointNames.push_back("wam_joint_4");
+ jointNames.push_back("wam_joint_5");
+ jointNames.push_back("wam_joint_6");
+ jointNames.push_back("wam_joint_7");
+ jointNames.push_back("bhand_finger1_joint_2");
+ jointNames.push_back("bhand_finger2_joint_2");
+ jointNames.push_back("bhand_finger3_joint_2");
+ jointNames.push_back("bhand_spread");
+
+ for(int i=0;i < 7;i++)
+ {
+ int j=find(jointStates.name.begin(),jointStates.name.end(),jointNames[i]) - jointStates.name.begin();
+ wamJp_[i]=jointStates.position[j];
+ }
+
+ for(int i=0;i < 4;i++)
+ {
+ int j=find(jointStates.name.begin(),jointStates.name.end(),jointNames[i+7]) - jointStates.name.begin();
+ bhandJp_[i]=jointStates.position[j];
+ }
+}
+
+
+void WamNodeTest::test(void)
+{
+ std::vector<float> jpCmd(7,0);
+ jpCmd[3]=M_PI_2;
+ wamMove(jpCmd);
+ wamWait(jpCmd);
+
+ spreadMove(M_PI);
+ spreadWait(M_PI);
+
+ fingerMove(M_PI_2);
+ fingerWait(M_PI_2);
+
+ fingerMove(2.44);
+ fingerWait(2.44);
+
+ fingerMove(0.0);
+ fingerWait(0.0);
+
+ spreadMove(0);
+ spreadWait(0);
+
+ fingerMove(2.44,2.44,0.0);
+ fingerWait(2.44,2.44,0.0);
+
+ fingerMove(2.44);
+ fingerWait(2.44);
+
+ fingerMove(0.0);
+ fingerWait(0.0);
+
+ spreadMove(0.0);
+ spreadWait(0.0);
+
+ std::fill(jpCmd.begin(),jpCmd.end(),0.0);
+ jpCmd[1]=-2.0;
+ jpCmd[3]=3.1;
+ wamMove(jpCmd);
+ wamWait(jpCmd);
+
+ exit(0);
+}
+
+int main(int argc,char* argv[])
+{
+ ros::init(argc,argv,"wam_node_test");
+ ros::NodeHandle node;
+
+ WamNodeTest wamNodeTest(node);
+ std::thread test(&WamNodeTest::test,&wamNodeTest);
+
+ ros::Rate loop(50);
+ while(ros::ok())
+ {
+ wamNodeTest.update();
+ ros::spinOnce();
+ loop.sleep();
+ }
+
+ return 0;
+}
projects / ufrgs_wam.git / commitdiff