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robot-interface.l: add :check-continuous-joint-move-over-180 #322

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robot-interface.l: add :check-continuous-joint-move-over-180 #322

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robot-interface.l: add :check-continuous-joint-move-over-180
k-okada Oct 3, 2017
ab1c08e
Merge branch 'master' into add_180
k-okada Apr 16, 2018
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14 changes: 14 additions & 0 deletions pr2eus/robot-interface.l
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Original file line number Diff line number Diff line change
Expand Up @@ -288,6 +288,20 @@
msg))
msg))

;;
(:check-continuous-joint-move-over-180
(diff-av)
"check if the robot has continuous joints and the maxmum values in diff-av is larger then 180 deg"
(let ((i 0) add-new-trajectory-point)
(dolist (j (send robot :joint-list))
;; for continuous rotational joint
(when (and (> (- (send j :max-angle) (send j :min-angle)) 360)
(> (abs (elt diff-av i)) 180))
(ros::ros-warn "continuous joint (~A) moves ~A degree, commanded joint differs from original trajectory to avoid unintentional 360 rotation" (send j :name) (elt diff-av i))
(setq add-new-trajectory-point t))
(incf i (send j :joint-dof)))
add-new-trajectory-point))
;;
(:angle-vector-safe
(av tm &key (simulation) (yes) (wait t) (norm-threshold 120) (angle-threshold 80) (velocity-threshold 240))
"send joint angle to robot with user-level confirmation. This method requires key input"
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