phantom_control_vrep.cpp File Reference

Node responsible for handling the communication between the PHANToM device and V-REP. Connects to V-REP and joystick simultaneously, returning the device status to the simulator and updating the received forces. Implements joint-by-joint robot control and inverse kinematics control when combined with the joystick, or inverse kinematics when alone, using a polynomial-like trajectory generation. The operation mode depends on the V-REP scene, and on the state selected by Button 2. It uses both ROS and OpenHaptics. More...

#include <humanoid_simulation/humanoid_simulation.h>

Include dependency graph for phantom_control_vrep.cpp:

Go to the source code of this file.

Macros
#define	PI   3.14159265

Functions
HDboolean	CheckCalibration ()
int	command_method (0)
void	feedbackCallback (const geometry_msgs::Vector3Stamped &msg)
int	main (int argc, char **argv)
void	mainLoop (int argc, char **argv)
void	objectHandles ()
int	previous_state_0 (0)
int	previous_state_1 (0)
HDCallbackCode HDCALLBACK	SchedulerCallback (void *pUserData)
void	setRobotPosition (double &time)
void	setupMessaging (ros::NodeHandle nh)
void	simulationCallback (const vrep_common::VrepInfo &msg)
double	simulationTime (0)
int	simulator_state (4)
HDCallbackCode HDCALLBACK	UpdateCalibrationCallback (void *pUserData)

Variables
HDdouble	base_force [3]
HDdouble	base_torque [3]
ros::Publisher	command_joints_position_pub
ros::Publisher	command_left_joints_position_pub
ros::Publisher	command_pelvis_position_pub
ros::Publisher	command_pelvis_position_stamped_pub
ros::Publisher	command_right_joints_position_pub
ros::Subscriber	feedback_force_filtered_sub
HDSchedulerHandle	gCallbackHandle = HD_INVALID_HANDLE
vrep_common::simRosGetObjectGroupData	joint_handles
ros::ServiceClient	joint_handles_srv
vrep_common::JointSetStateData	joint_target
vector< int >	left_joint_handle
vrep_common::JointSetStateData	left_joint_target
string	move_type = "move_down"
ros::ServiceClient	object_handles_srv
geometry_msgs::Point	pelvis_target
geometry_msgs::Point	pelvis_target_init
geometry_msgs::PointStamped	pelvis_target_stamped
double	poly_time
vector< int >	right_joint_handle
vrep_common::JointSetStateData	right_joint_target
int	scale_div = 1700
ros::Subscriber	simulation_state_sub
static device_state	state
double	time_inc = 0.05

Detailed Description

Node responsible for handling the communication between the PHANToM device and V-REP. Connects to V-REP and joystick simultaneously, returning the device status to the simulator and updating the received forces. Implements joint-by-joint robot control and inverse kinematics control when combined with the joystick, or inverse kinematics when alone, using a polynomial-like trajectory generation. The operation mode depends on the V-REP scene, and on the state selected by Button 2. It uses both ROS and OpenHaptics.

Version

v1.0

Author

João O. Barros

Date

February 2015

Definition in file phantom_control_vrep.cpp.

Macro Definition Documentation

#define PI   3.14159265

Definition at line 18 of file phantom_control_vrep.cpp.

Function Documentation

HDboolean CheckCalibration

(

)

Definition at line 446 of file phantom_control_vrep.cpp.

int command_method

(

0

)

void feedbackCallback

(

const geometry_msgs::Vector3Stamped &

msg

)

Definition at line 364 of file phantom_control_vrep.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 513 of file phantom_control_vrep.cpp.

void mainLoop	(	int	argc,
		char **	argv
	)

Definition at line 417 of file phantom_control_vrep.cpp.

void objectHandles

(

)

Definition at line 381 of file phantom_control_vrep.cpp.

int previous_state_0

(

0

)

int previous_state_1

(

0

)

HDCallbackCode HDCALLBACK SchedulerCallback

(

void *

pUserData

)

Definition at line 70 of file phantom_control_vrep.cpp.

void setRobotPosition

(

double &

time

)

Definition at line 194 of file phantom_control_vrep.cpp.

void setupMessaging

(

ros::NodeHandle

nh

)

Definition at line 401 of file phantom_control_vrep.cpp.

void simulationCallback

(

const vrep_common::VrepInfo &

msg

)

Definition at line 352 of file phantom_control_vrep.cpp.

double simulationTime

(

0

)

int simulator_state

(

4

)

HDCallbackCode HDCALLBACK UpdateCalibrationCallback

(

void *

pUserData

)

Definition at line 433 of file phantom_control_vrep.cpp.

Variable Documentation

HDdouble base_force[3]

Definition at line 25 of file phantom_control_vrep.cpp.

HDdouble base_torque[3]

Definition at line 24 of file phantom_control_vrep.cpp.

ros::Publisher command_joints_position_pub

Definition at line 35 of file phantom_control_vrep.cpp.

ros::Publisher command_left_joints_position_pub

Definition at line 36 of file phantom_control_vrep.cpp.

ros::Publisher command_pelvis_position_pub

Definition at line 33 of file phantom_control_vrep.cpp.

ros::Publisher command_pelvis_position_stamped_pub

Definition at line 34 of file phantom_control_vrep.cpp.

ros::Publisher command_right_joints_position_pub

Definition at line 37 of file phantom_control_vrep.cpp.

ros::Subscriber feedback_force_filtered_sub

Definition at line 38 of file phantom_control_vrep.cpp.

HDSchedulerHandle gCallbackHandle = HD_INVALID_HANDLE

Definition at line 27 of file phantom_control_vrep.cpp.

vrep_common::simRosGetObjectGroupData joint_handles

Definition at line 41 of file phantom_control_vrep.cpp.

ros::ServiceClient joint_handles_srv

Definition at line 32 of file phantom_control_vrep.cpp.

vrep_common::JointSetStateData joint_target

Definition at line 45 of file phantom_control_vrep.cpp.

vector<int> left_joint_handle

Definition at line 49 of file phantom_control_vrep.cpp.

vrep_common::JointSetStateData left_joint_target

Definition at line 46 of file phantom_control_vrep.cpp.

string move_type = "move_down"

Definition at line 66 of file phantom_control_vrep.cpp.

ros::ServiceClient object_handles_srv

Definition at line 31 of file phantom_control_vrep.cpp.

geometry_msgs::Point pelvis_target

Definition at line 42 of file phantom_control_vrep.cpp.

geometry_msgs::Point pelvis_target_init

Definition at line 43 of file phantom_control_vrep.cpp.

geometry_msgs::PointStamped pelvis_target_stamped

Definition at line 44 of file phantom_control_vrep.cpp.

double poly_time

Definition at line 65 of file phantom_control_vrep.cpp.

vector<int> right_joint_handle

Definition at line 50 of file phantom_control_vrep.cpp.

vrep_common::JointSetStateData right_joint_target

Definition at line 47 of file phantom_control_vrep.cpp.

int scale_div = 1700

Definition at line 67 of file phantom_control_vrep.cpp.

ros::Subscriber simulation_state_sub

Definition at line 39 of file phantom_control_vrep.cpp.

device_state state

static

Definition at line 22 of file phantom_control_vrep.cpp.

double time_inc = 0.05

Definition at line 64 of file phantom_control_vrep.cpp.