public GazeboRobot(RobotInfo robot_info, string gazebo_url, string gazebo_model_name, RobotOperationalMode gazebo_operational_mode) : base(robot_info, 0)
{
this.gazebo_url = gazebo_url;
this.gazebo_model_name = gazebo_model_name;
this.gazebo_operational_mode = gazebo_operational_mode;
this.rox_robots_no_limits = new Rox.Robot[robot_info.chains.Count];
for (int i = 0; i < robot_info.chains.Count; i++)
{
this.rox_robots_no_limits[i] = RobotInfoConverter.ToToolboxRobot(robot_info, i);
rox_robots_no_limits[i].Joint_lower_limit = null;
rox_robots_no_limits[i].Joint_upper_limit = null;
rox_robots_no_limits[i].Joint_vel_limit = null;
rox_robots_no_limits[i].Joint_acc_limit = null;
}
this._trajectory_error_tol = 1000;
}
static int Main(string[] args)
{
bool shouldShowHelp = false;
string robot_info_file = null;
string robot_name = null;
ushort tcp_port = 58653;
string node_name = "gazebo_robot";
string model_name = null;
string gazebo_url = null;
var options = new OptionSet {
{ "robot-info-file=", n => robot_info_file = n },
{ "robot-name=", "override the robot device name", n => robot_name = n },
{ "model-name=", "the gazebo model to control", n => model_name = n },
{ "gazebo-url=", "url for the Robot Raconteur Gazebo plugin", n => gazebo_url = n },
{ "h|help", "show this message and exit", h => shouldShowHelp = h != null }
};
List <string> extra;
try
{
// parse the command line
extra = options.Parse(args);
}
catch (OptionException e)
{
// output some error message
Console.Write("GazeboModelRobotRaconteurDriver: ");
Console.WriteLine(e.Message);
Console.WriteLine("Try `GazeboModelRobotRaconteurDriver --help' for more information.");
return(1);
}
if (shouldShowHelp)
{
Console.WriteLine("Usage: GazeboModelRobotRaconteurDriver [Options+]");
Console.WriteLine();
Console.WriteLine("Options:");
options.WriteOptionDescriptions(Console.Out);
return(0);
}
if (robot_info_file == null)
{
Console.WriteLine("error: robot-info-file must be specified");
return(1);
}
if (model_name == null)
{
Console.WriteLine("error: model-name must be specified");
return(1);
}
if (gazebo_url == null)
{
Console.WriteLine("error: gazebo_url must be specified");
return(1);
}
var robot_info = RobotInfoParser.LoadRobotInfoYamlWithIdentifierLocks(robot_info_file, robot_name);
robot_info.Item1.robot_capabilities &= (uint)(RobotCapabilities.jog_command | RobotCapabilities.position_command | RobotCapabilities.trajectory_command);
RobotOperationalMode robot_op_mode = RobotOperationalMode.auto;
var robot_class = robot_info.Item1?.device_info?.device_classes?.Find(x => x?.class_identifier?.name == "robot");
if (robot_class?.subclasses != null)
{
if (robot_class.subclasses.Contains("cobot"))
{
robot_op_mode = RobotOperationalMode.cobot;
}
}
using (robot_info.Item2)
{
using (var node_setup = new ServerNodeSetup(node_name, tcp_port, args))
{
using (var robot = new GazeboRobot(robot_info.Item1, gazebo_url, model_name, robot_op_mode))
{
robot._start_robot();
var robot_service_ctx = RobotRaconteurNode.s.RegisterService("robot", "com.robotraconteur.robotics.robot", robot);
robot_service_ctx.SetServiceAttributes(AttributesUtil.GetDefaultServiceAtributesFromDeviceInfo(robot_info.Item1.device_info));
Console.WriteLine("Press enter to exit");
Console.ReadKey();
}
}
}
return(0);
}