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Merge branch 'GEAR_arm_controller' of https://github.com/EECS-467-W20-RRRobot-Project/RRRobot into GEAR_arm_controller

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This commit is contained in:
Sravan Balaji
2020-04-26 23:09:25 -04:00
parent d7015b655c 371b6e5d34
commit cfb5b0b377
2 changed files with 30 additions and 3 deletions
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4
src/rrrobot_ws/src/gazebo_models/pop_can/model.sdf
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@@ -12,9 +12,9 @@
<iyz>0</iyz> <iyz>0</iyz>
<izz>0.166667</izz> <izz>0.166667</izz>
</inertia> </inertia>
<pose frame=''>0 0 0 0 -0 0</pose> <pose frame=''>0.02 -0.05 0.023 0 -0 0</pose>
</inertial> </inertial>
<pose frame=''>0 0 0 1.5708 -0 0</pose> <pose frame=''>-0 0 0.08 1.5708 -0 0</pose>
<gravity>1</gravity> <gravity>1</gravity>
<self_collide>0</self_collide> <self_collide>0</self_collide>
<kinematic>0</kinematic> <kinematic>0</kinematic>

27
src/rrrobot_ws/src/rrrobot/src/rrrobot_node.cpp
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@@ -18,6 +18,7 @@
#include <stdlib.h> #include <stdlib.h>
#include <time.h> #include <time.h>
#include <fstream> #include <fstream>
#include <iostream>
#include <ros/ros.h> #include <ros/ros.h>
@@ -37,6 +38,9 @@
#include "topic_names.h" #include "topic_names.h"
#include "rrrobot/arm_command.h" #include "rrrobot/arm_command.h"
using std::cout;
using std::endl;
class Position class Position
{ {
public: public:
@@ -88,6 +92,8 @@ public:
// tell the arm to move to grab the object // tell the arm to move to grab the object
publish_arm_command(); publish_arm_command();
} }
print_state();
} }
void gripper_state_callback(const osrf_gear::VacuumGripperState &state) void gripper_state_callback(const osrf_gear::VacuumGripperState &state)
@@ -110,6 +116,8 @@ public:
// store current state // store current state
gripper_state = state; gripper_state = state;
print_state();
} }
void grasp_pose_callback(const geometry_msgs::Pose &grasp_pose) void grasp_pose_callback(const geometry_msgs::Pose &grasp_pose)
@@ -131,6 +139,8 @@ public:
publish_arm_command(); publish_arm_command();
} }
print_state();
} }
private: private:
@@ -193,6 +203,23 @@ private:
cmd.request.power = power; cmd.request.power = power;
conveyor_pub.call(cmd); conveyor_pub.call(cmd);
} }
void print_state()
{
if (current_robot_state & RobotState::WAITING_FOR_CLASSIFICATION)
{
cout << "Waiting for classification\t";
}
if (current_robot_state & RobotState::WAITING_FOR_GRAB_LOCATION)
{
cout << "Waiting for grab location\t";
}
if (current_robot_state & RobotState::MOVING_ARM)
{
cout << "Moving Arm\t";
}
cout << endl;
}
}; };
int main(int argc, char **argv) int main(int argc, char **argv)