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Check URDF to distinguish fixed joints from floating joints. Floating… #32

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Sep 24, 2015
Merged

Check URDF to distinguish fixed joints from floating joints. Floating… #32

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2 changes: 1 addition & 1 deletion include/robot_state_publisher/joint_state_listener.h
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Original file line number Diff line number Diff line change
Expand Up @@ -57,7 +57,7 @@ class JointStateListener{
/** Constructor
* \param tree The kinematic model of a robot, represented by a KDL Tree
*/
JointStateListener(const KDL::Tree& tree, const MimicMap& m);
JointStateListener(const KDL::Tree& tree, const MimicMap& m, const urdf::Model& model = urdf::Model());

/// Destructor
~JointStateListener();
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4 changes: 3 additions & 1 deletion include/robot_state_publisher/robot_state_publisher.h
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Expand Up @@ -41,6 +41,7 @@
#include <boost/scoped_ptr.hpp>
#include <tf/tf.h>
#include <tf/transform_broadcaster.h>
#include <urdf/model.h>
#include <kdl/frames.hpp>
#include <kdl/segment.hpp>
#include <kdl/tree.hpp>
Expand All @@ -64,7 +65,7 @@ class RobotStatePublisher
/** Constructor
* \param tree The kinematic model of a robot, represented by a KDL Tree
*/
RobotStatePublisher(const KDL::Tree& tree);
RobotStatePublisher(const KDL::Tree& tree, const urdf::Model& model = urdf::Model());

/// Destructor
~RobotStatePublisher(){};
Expand All @@ -82,6 +83,7 @@ class RobotStatePublisher

std::map<std::string, SegmentPair> segments_, segments_fixed_;
tf::TransformBroadcaster tf_broadcaster_;
const urdf::Model& model_;
};


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6 changes: 3 additions & 3 deletions src/joint_state_listener.cpp
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Expand Up @@ -47,8 +47,8 @@ using namespace ros;
using namespace KDL;
using namespace robot_state_publisher;

JointStateListener::JointStateListener(const KDL::Tree& tree, const MimicMap& m)
: state_publisher_(tree), mimic_(m)
JointStateListener::JointStateListener(const KDL::Tree& tree, const MimicMap& m, const urdf::Model& model)
: state_publisher_(tree, model), mimic_(m)
{
ros::NodeHandle n_tilde("~");
ros::NodeHandle n;
Expand Down Expand Up @@ -164,7 +164,7 @@ int main(int argc, char** argv)
}
}

JointStateListener state_publisher(tree, mimic);
JointStateListener state_publisher(tree, mimic, model);
ros::spin();

return 0;
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12 changes: 9 additions & 3 deletions src/robot_state_publisher.cpp
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Expand Up @@ -45,7 +45,8 @@ using namespace ros;

namespace robot_state_publisher{

RobotStatePublisher::RobotStatePublisher(const KDL::Tree& tree)
RobotStatePublisher::RobotStatePublisher(const KDL::Tree& tree, const urdf::Model& model)
: model_(model)
{
// walk the tree and add segments to segments_
addChildren(tree.getRootSegment());
Expand All @@ -62,8 +63,13 @@ namespace robot_state_publisher{
const KDL::Segment& child = GetTreeElementSegment(children[i]->second);
SegmentPair s(GetTreeElementSegment(children[i]->second), root, child.getName());
if (child.getJoint().getType() == KDL::Joint::None){
segments_fixed_.insert(make_pair(child.getJoint().getName(), s));
ROS_DEBUG("Adding fixed segment from %s to %s", root.c_str(), child.getName().c_str());
if (model_.getJoint(child.getJoint().getName()) && model_.getJoint(child.getJoint().getName())->type == urdf::Joint::FLOATING){
ROS_INFO("Floating joint. Not adding segment from %s to %s. This TF can not be published based on joint_states info", root.c_str(), child.getName().c_str());
}
else{
segments_fixed_.insert(make_pair(child.getJoint().getName(), s));
ROS_DEBUG("Adding fixed segment from %s to %s", root.c_str(), child.getName().c_str());
}
}
else{
segments_.insert(make_pair(child.getJoint().getName(), s));
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