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/* |
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* Copyright 2018, |
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* |
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* Joseph Mirabel |
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* |
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* LAAS, CNRS |
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* |
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* This file is part of TIAGOController. |
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* TIAGOController is a free software, |
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* |
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*/ |
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#include <pinocchio/fwd.hpp> |
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#include <sot/core/debug.hh> |
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/* TiagoSteel is the instance of TIAGO named "steel" */ |
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#define ROBOTNAME std::string("TIAGOSTEEL") |
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#include "sot-tiago-steel-controller.hh" |
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const std::string SoTTiagoSteelController::LOG_PYTHON_TIAGOSTEEL = |
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"/tmp/TiagoSteelController_python.out"; |
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SoTTiagoSteelController::SoTTiagoSteelController() |
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: SoTTiagoController(ROBOTNAME), withWheels_(false) { |
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ros::NodeHandle nh; |
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nh.getParam("/sot_controller/use_mobile_base", withWheels_); |
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ROS_INFO_STREAM("Loading SoT Tiago steel controller with" |
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<< (withWheels_ ? "" : "out") << " wheel"); |
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if (withWheels_) { |
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// Control wheels in velocity. |
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// 6 and 7 correspond to left and right wheel joints. |
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device_->setLeftWheelIndex(6); |
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device_->setRightWheelIndex(7); |
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} |
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/// Read /sot_controller/dt to know what is the control period |
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if (nh.hasParam("/sot_controller/dt")) { |
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double dt; |
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nh.getParam("/sot_controller/dt", dt); |
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device_->setTimeStep(dt); |
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ROS_INFO_STREAM("Set Tiago control period to: " << dt); |
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} |
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startupPython(); |
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interpreter_->startRosService(); |
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} |
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void SoTTiagoSteelController::startupPython() { |
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SoTTiagoController::startupPython(); |
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std::ofstream aof(LOG_PYTHON_TIAGOSTEEL.c_str()); |
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runPython(aof, "import dynamic_graph.sot.tiago.steel.prologue", |
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*interpreter_); |
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if (withWheels_) |
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runPython(aof, |
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"robot = dynamic_graph.sot.tiago.steel.prologue.makeRobot " |
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"(with_wheels=True)", |
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*interpreter_); |
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else |
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runPython(aof, |
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"robot = dynamic_graph.sot.tiago.steel.prologue.makeRobot " |
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"(with_wheels=False)", |
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*interpreter_); |
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aof.close(); |
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} |
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extern "C" { |
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dgsot::AbstractSotExternalInterface *createSotExternalInterface() { |
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return new SoTTiagoSteelController(); |
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} |
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} |
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extern "C" { |
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void destroySotExternalInterface(dgsot::AbstractSotExternalInterface *p) { |
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delete p; |
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} |
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} |