105 lines
3.3 KiB
C++
105 lines
3.3 KiB
C++
#include <iostream>
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#include <unistd.h>
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#include <rclcpp/rclcpp.hpp>
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#include <cyberdog_msg/msg/yaml_param.hpp>
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#include <cyberdog_msg/msg/apply_force.hpp>
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enum class ControlParameterValueKind : uint64_t {
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kDOUBLE = 1,
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kS64 = 2,
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kVEC_X_DOUBLE = 3, // for template type derivation
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kMAT_X_DOUBLE = 4 // for template type derivation
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};
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class ExampleNode: public rclcpp::Node
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{
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public:
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ExampleNode(std::string node_name):Node(node_name){};
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~ExampleNode(){};
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};
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int main(int argc, char** argv){
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rclcpp::init(argc, argv);
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auto example_node_=std::make_shared<ExampleNode>("cyberdogmsg_node");
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rclcpp::Publisher<cyberdog_msg::msg::YamlParam>::SharedPtr para_pub_;
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rclcpp::Publisher<cyberdog_msg::msg::ApplyForce>::SharedPtr force_pub_;
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para_pub_=example_node_->create_publisher<cyberdog_msg::msg::YamlParam>("yaml_parameter",10);
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force_pub_=example_node_->create_publisher<cyberdog_msg::msg::ApplyForce>("apply_force",10);
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auto param_message_ = cyberdog_msg::msg::YamlParam();
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auto force_message_ = cyberdog_msg::msg::ApplyForce();
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sleep(1);
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//send control mode to Gamepad_controller mode which can enable control from simulator program
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param_message_.name = "use_rc";
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param_message_.kind = uint64_t(ControlParameterValueKind::kS64);
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param_message_.s64_value = int64_t(0);
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param_message_.is_user = 0;
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para_pub_->publish(param_message_);
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std::cout<<"switch to gamepad control model..."<<std::endl;
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sleep(1);
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//switch to recvorystand command control mode
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param_message_.name = "control_mode";
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param_message_.kind = uint64_t(ControlParameterValueKind::kS64);
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param_message_.s64_value = int64_t(12);
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param_message_.is_user = 0;
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para_pub_->publish(param_message_);
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std::cout<<"recovery stand ..."<<std::endl;
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sleep(5);
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//switch to locomotion control mode
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param_message_.name = "control_mode";
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param_message_.kind = uint64_t(ControlParameterValueKind::kS64);
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param_message_.s64_value = int64_t(11);
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param_message_.is_user = 0;
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para_pub_->publish(param_message_);
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std::cout<<"locomotion ..."<<std::endl;
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sleep(1);
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//apply force on FrontLeft leg
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std::array<double, 3> rel_pos_;
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std::array<double, 3> force_;
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force_[2] = 20;
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force_message_.link_name = "FL_knee";
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force_message_.rel_pos = rel_pos_;
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force_message_.force = force_;
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force_message_.time = 2;
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force_pub_->publish(force_message_);
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std::cout<<"applying force on FL_knee ..."<<std::endl;
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sleep(5);
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//change roll angle of body in locomtion
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std::array<double, 12> vecxd_value_;
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vecxd_value_[0] = 0.2;
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vecxd_value_[2] = 0.25;
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param_message_.name = "des_roll_pitch_height";
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param_message_.kind = uint64_t(ControlParameterValueKind::kVEC_X_DOUBLE);
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param_message_.vecxd_value = vecxd_value_;
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param_message_.is_user = 1;
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para_pub_->publish(param_message_);
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std::cout<<"set roll angle to 0.2 ..."<<std::endl;
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sleep(7);
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//switch to recvorystand command control mode
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param_message_.name = "control_mode";
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param_message_.kind = uint64_t(ControlParameterValueKind::kS64);
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param_message_.s64_value = int64_t(12);
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param_message_.is_user = 0;
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para_pub_->publish(param_message_);
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std::cout<<"recovery stand ..."<<std::endl;
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rclcpp::shutdown();
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return 0;
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} |