BRSRI/bellande_humanoid_robot_intelligence_control_system_architecture
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This commit is contained in:
Ronaldson Bellande 2023-11-13 18:46:48 -05:00
parent 3eb7dfec8e
commit 61231e1e11
4 changed files with 18 additions and 11 deletions
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0
humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_bringup.launch → humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_intelligence_control_system_bringup.launch
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0
humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_bringup_visualization.launch → humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_intelligence_control_system_bringup_visualization.launch
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29
humanoid_robot_intelligence_control_system_demo/src/demo_node.cpp
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@ -71,20 +71,25 @@ int main(int argc, char **argv) {
ros::NodeHandle nh(ros::this_node::getName());
init_pose_pub =
nh.advertise<std_msgs::String>("/humanoid_robot_intelligence_control_system/base/ini_pose", 0);
init_pose_pub = nh.advertise<std_msgs::String>(
"/humanoid_robot_intelligence_control_system/base/ini_pose", 0);
play_sound_pub = nh.advertise<std_msgs::String>("/play_sound_file", 0);
led_pub = nh.advertise<humanoid_robot_intelligence_control_system_controller_msgs::SyncWriteItem>(
"/humanoid_robot_intelligence_control_system/sync_write_item", 0);
dxl_torque_pub =
nh.advertise<std_msgs::String>("/humanoid_robot_intelligence_control_system/dxl_torque", 0);
led_pub =
nh.advertise<humanoid_robot_intelligence_control_system_controller_msgs::
SyncWriteItem>(
"/humanoid_robot_intelligence_control_system/sync_write_item", 0);
dxl_torque_pub = nh.advertise<std_msgs::String>(
"/humanoid_robot_intelligence_control_system/dxl_torque", 0);
ros::Subscriber buttuon_sub =
nh.subscribe("/humanoid_robot_intelligence_control_system/open_cr/button", 1, buttonHandlerCallback);
nh.subscribe("/humanoid_robot_intelligence_control_system/open_cr/button",
1, buttonHandlerCallback);
ros::Subscriber mode_command_sub =
nh.subscribe("/humanoid_robot_intelligence_control_system/mode_command", 1, demoModeCommandCallback);
nh.subscribe("/humanoid_robot_intelligence_control_system/mode_command",
1, demoModeCommandCallback);
default_mp3_path =
ros::package::getPath("humanoid_robot_intelligence_control_system_demo") + "/data/mp3/";
ros::package::getPath("humanoid_robot_intelligence_control_system_demo") +
"/data/mp3/";
ros::start();
@ -92,7 +97,8 @@ int main(int argc, char **argv) {
ros::Rate loop_rate(SPIN_RATE);
// wait for starting of manager
std::string manager_name = "/humanoid_robot_intelligence_control_system_manager";
std::string manager_name =
"/humanoid_robot_intelligence_control_system_manager";
while (ros::ok()) {
ros::Duration(1.0).sleep();
@ -272,7 +278,8 @@ void playSound(const std::string &path) {
}
void setLED(int led) {
humanoid_robot_intelligence_control_system_controller_msgs::SyncWriteItem syncwrite_msg;
humanoid_robot_intelligence_control_system_controller_msgs::SyncWriteItem
syncwrite_msg;
syncwrite_msg.item_name = "LED";
syncwrite_msg.joint_name.push_back("open-cr");
syncwrite_msg.value.push_back(led);

0
humanoid_robot_intelligence_control_system_read_write_demo/launch/humanoid_robot_read_write.launch → humanoid_robot_intelligence_control_system_read_write_demo/launch/humanoid_robot_intelligence_control_system_read_write.launch
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