Changes have been pushed for the project "Fawkes Robotics Software Framework".
Gitweb: http://git.fawkesrobotics.org/fawkes.git Trac: http://trac.fawkesrobotics.org The branch, thofmann/joint-pantilt has been updated to 134bf491ff6d5aaf912c0350a3f49f1a47d1a1e4 (commit) from 5a024dbeb523c6ae2cb2dcbce041060dd5818ae3 (commit) http://git.fawkesrobotics.org/fawkes.git/thofmann/joint-pantilt Those revisions listed above that are new to this repository have not appeared on any other notification email; so we list those revisions in full, below. - *Log* --------------------------------------------------------------- commit 134bf491ff6d5aaf912c0350a3f49f1a47d1a1e4 Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> AuthorDate: Fri Sep 27 16:32:57 2013 +0200 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Fri Sep 27 16:32:57 2013 +0200 pantilt: only publish transforms if config value is set to true http://git.fawkesrobotics.org/fawkes.git/commit/134bf49 http://trac.fawkesrobotics.org/changeset/134bf49 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *Summary* ----------------------------------------------------------- cfg/conf.d/pantilt.yaml | 2 + src/plugins/pantilt/robotis/rx28_thread.cpp | 73 +++++++++++++++------------ src/plugins/pantilt/robotis/rx28_thread.h | 2 + 3 files changed, 44 insertions(+), 33 deletions(-) - *Diffs* ------------------------------------------------------------- - *commit* 134bf491ff6d5aaf912c0350a3f49f1a47d1a1e4 - - - - - - - - - - Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> Date: Fri Sep 27 16:32:57 2013 +0200 Subject: pantilt: only publish transforms if config value is set to true cfg/conf.d/pantilt.yaml | 2 + src/plugins/pantilt/robotis/rx28_thread.cpp | 73 +++++++++++++++------------ src/plugins/pantilt/robotis/rx28_thread.h | 2 + 3 files changed, 44 insertions(+), 33 deletions(-) _Diff for modified files_: diff --git a/cfg/conf.d/pantilt.yaml b/cfg/conf.d/pantilt.yaml index 9ed27e0..eaa7240 100644 --- a/cfg/conf.d/pantilt.yaml +++ b/cfg/conf.d/pantilt.yaml @@ -79,6 +79,8 @@ doc-url: !url http://trac.fawkesrobotics.org/wiki/Plugins/pantilt tilt_trans_y: 0.0 # TILT servo base to joint translation Z; m tilt_trans_z: 0.039 + # whether transforms should be published + publish_transforms: true # Type of PTU; one of RX28, EviD100P and DirectedPerceptionASCII EviD100P: diff --git a/src/plugins/pantilt/robotis/rx28_thread.cpp b/src/plugins/pantilt/robotis/rx28_thread.cpp index cd45a7c..325b66f 100644 --- a/src/plugins/pantilt/robotis/rx28_thread.cpp +++ b/src/plugins/pantilt/robotis/rx28_thread.cpp @@ -99,34 +99,39 @@ PanTiltRX28Thread::init() __cfg_tilt_margin = config->get_float((__ptu_cfg_prefix + "tilt_margin").c_str()); __cfg_pan_start = config->get_float((__ptu_cfg_prefix + "pan_start").c_str()); __cfg_tilt_start = config->get_float((__ptu_cfg_prefix + "tilt_start").c_str()); - #ifdef HAVE_TF - float pan_trans_x = - config->get_float((__ptu_cfg_prefix + "pan_trans_x").c_str()); - float pan_trans_y = - config->get_float((__ptu_cfg_prefix + "pan_trans_y").c_str()); - float pan_trans_z = - config->get_float((__ptu_cfg_prefix + "pan_trans_z").c_str()); - float tilt_trans_x = - config->get_float((__ptu_cfg_prefix + "tilt_trans_x").c_str()); - float tilt_trans_y = - config->get_float((__ptu_cfg_prefix + "tilt_trans_y").c_str()); - float tilt_trans_z = - config->get_float((__ptu_cfg_prefix + "tilt_trans_z").c_str()); + __cfg_publish_transforms=config->get_bool((__ptu_cfg_prefix + "publish_transforms").c_str()); +#endif - - std::string frame_id_prefix = std::string("/") + __ptu_name; - try { - frame_id_prefix = - config->get_string((__ptu_cfg_prefix + "frame_id_prefix").c_str()); - } catch (Exception &e) {} // ignore, use default +#ifdef HAVE_TF + if (__cfg_publish_transforms) { + float pan_trans_x = + config->get_float((__ptu_cfg_prefix + "pan_trans_x").c_str()); + float pan_trans_y = + config->get_float((__ptu_cfg_prefix + "pan_trans_y").c_str()); + float pan_trans_z = + config->get_float((__ptu_cfg_prefix + "pan_trans_z").c_str()); + float tilt_trans_x = + config->get_float((__ptu_cfg_prefix + "tilt_trans_x").c_str()); + float tilt_trans_y = + config->get_float((__ptu_cfg_prefix + "tilt_trans_y").c_str()); + float tilt_trans_z = + config->get_float((__ptu_cfg_prefix + "tilt_trans_z").c_str()); + + + std::string frame_id_prefix = std::string("/") + __ptu_name; + try { + frame_id_prefix = + config->get_string((__ptu_cfg_prefix + "frame_id_prefix").c_str()); + } catch (Exception &e) {} // ignore, use default - __cfg_base_frame = frame_id_prefix + "/base"; - __cfg_pan_link = frame_id_prefix + "/pan"; - __cfg_tilt_link = frame_id_prefix + "/tilt"; + __cfg_base_frame = frame_id_prefix + "/base"; + __cfg_pan_link = frame_id_prefix + "/pan"; + __cfg_tilt_link = frame_id_prefix + "/tilt"; - __translation_pan.setValue(pan_trans_x, pan_trans_y, pan_trans_z); - __translation_tilt.setValue(tilt_trans_x, tilt_trans_y, tilt_trans_z); + __translation_pan.setValue(pan_trans_x, pan_trans_y, pan_trans_z); + __translation_tilt.setValue(tilt_trans_x, tilt_trans_y, tilt_trans_z); + } #endif bool pan_servo_found = false, tilt_servo_found = false; @@ -300,14 +305,16 @@ PanTiltRX28Thread::update_sensor_values() __tiltjoint_if->write(); #ifdef HAVE_TF - // Always publish updated transforms - tf::Quaternion pr; pr.setEulerZYX(pan, 0, 0); - tf::Transform ptr(pr, __translation_pan); - tf_publisher->send_transform(ptr, time, __cfg_base_frame, __cfg_pan_link); - - tf::Quaternion tr; tr.setEulerZYX(0, tilt, 0); - tf::Transform ttr(tr, __translation_tilt); - tf_publisher->send_transform(ttr, time, __cfg_pan_link, __cfg_tilt_link); + if (__cfg_publish_transforms) { + // Always publish updated transforms + tf::Quaternion pr; pr.setEulerZYX(pan, 0, 0); + tf::Transform ptr(pr, __translation_pan); + tf_publisher->send_transform(ptr, time, __cfg_base_frame, __cfg_pan_link); + + tf::Quaternion tr; tr.setEulerZYX(0, tilt, 0); + tf::Transform ttr(tr, __translation_tilt); + tf_publisher->send_transform(ttr, time, __cfg_pan_link, __cfg_tilt_link); + } #endif } } diff --git a/src/plugins/pantilt/robotis/rx28_thread.h b/src/plugins/pantilt/robotis/rx28_thread.h index 62b3d9e..44ed770 100644 --- a/src/plugins/pantilt/robotis/rx28_thread.h +++ b/src/plugins/pantilt/robotis/rx28_thread.h @@ -112,6 +112,8 @@ class PanTiltRX28Thread fawkes::tf::Vector3 __translation_pan; fawkes::tf::Vector3 __translation_tilt; + + bool __cfg_publish_transforms; #endif float __last_pan; -- Fawkes Robotics Framework http://www.fawkesrobotics.org _______________________________________________ fawkes-commits mailing list fawkes-commits@lists.kbsg.rwth-aachen.de https://lists.kbsg.rwth-aachen.de/listinfo/fawkes-commits
