C++ TrajClient::sendGoal方法代码示例

	void startTrajectory(control_msgs::FollowJointTrajectoryGoal goal_elbow, control_msgs::FollowJointTrajectoryGoal goal_torso)
	{
		// When to start the trajectory: 'duration' from now
		goal_elbow.trajectory.header.stamp = ros::Time::now() + ros::Duration(1.0);
		goal_torso.trajectory.header.stamp = ros::Time::now() + ros::Duration(1.0);
		traj_client_elbow_flex_->sendGoal(goal_elbow);
		traj_client_torso_->sendGoal(goal_torso);
	}

  //! Sends the command to start a given trajectory
  void startTrajectory(pr2_controllers_msgs::JointTrajectoryGoal goal,bool right_arm)
  {
    //Start the trjaectory immediately
    goal.trajectory.header.stamp = ros::Time::now();

    if(right_arm)
      traj_client_r_->sendGoal(goal);
    else
      traj_client_l_->sendGoal(goal);
  }

  bool execute_joint_trajectory(std::vector<double *> joint_trajectory, double req_time, double msg_time)
    
  {
    int i, j; 
    int trajectorylength = joint_trajectory.size();

    goal.trajectory.points.resize(trajectorylength);

    goal.trajectory.points[0].positions.resize(6);
    goal.trajectory.points[0].velocities.resize(6);

    double time_from_start = 0.0;

    goal.trajectory.points[0].positions.resize(6);
    goal.trajectory.points[0].velocities.resize(6);

    // Velocities not used by UR5 servoj command
    for(j=0; j<6; j++)
    {
      goal.trajectory.points[0].positions[j] = joint_trajectory[0][j];
      goal.trajectory.points[0].velocities[j] = 0.0;
    }

    double max_joint_move = 0;
    for(j=0; j<6; j++)
    {
      double joint_move = fabs(goal.trajectory.points[0].positions[j] 
                               - current_angles[j]);
      if(joint_move > max_joint_move) max_joint_move = joint_move;
    }

    double limit_time = max_joint_move/MAX_JOINT_VEL;
  //  ROS_INFO("max_joint_move: %0.3f, seconds: %0.3f", max_joint_move, seconds);
    if (req_time < limit_time){
      time_from_start += limit_time;
    }
    else {
      time_from_start += req_time;
    }

    goal.trajectory.points[0].time_from_start = 
      ros::Duration(time_from_start);

    //when to start the trajectory
//    goal.trajectory.header.stamp = ros::Time::now();

//    ROS_INFO("Sending goal to joint_trajectory_action");

    double time2 = ros::Time::now().toSec();
    ROS_INFO_STREAM("Time elapsed: " << (time2 - msg_time ));
    action_client->sendGoal(goal);

    // Servoing: need interrupt commands
//    action_client->waitForResult();

    return 1;
  }

 //! Sends the command to start a given trajectory
 void startTrajectory(control_msgs::FollowJointTrajectoryGoal goal)
 {
     // When to start the trajectory: 1s from now
     goal.trajectory.header.stamp = ros::Time::now() + ros::Duration(1.0);
     traj_client_->sendGoal(goal);
     if (!traj_client_->waitForResult(ros::Duration(10.0)))
     { 
         traj_client_->cancelGoal();
         ROS_INFO("Action did not finish before the time out.\n"); 
     }
 }

 //! Sends the command to start a given trajectory
 void startTrajectory()
 {
   iri_wam_common_msgs::DMPTrackerGoal DMPgoal;
   
   DMPgoal.initial.positions.resize(7);   
   DMPgoal.initial.positions[0] = -0.11976;
   DMPgoal.initial.positions[1] = -1.84794;
   DMPgoal.initial.positions[2] = 0.285349;
   DMPgoal.initial.positions[3] = 2.84315;
   DMPgoal.initial.positions[4] = -0.310117;
   DMPgoal.initial.positions[5] = -1.21896;
   DMPgoal.initial.positions[6] = 0.0192133;
    
   DMPgoal.goal.positions.resize(7); 
   DMPgoal.goal.positions[0] = 0.160557;
   DMPgoal.goal.positions[1] = -1.91039;
   DMPgoal.goal.positions[2] = -0.664568;
   DMPgoal.goal.positions[3] = 2.9184;
   DMPgoal.goal.positions[4] = -0.5448;
   DMPgoal.goal.positions[5] = -0.812694;
   DMPgoal.goal.positions[6] = -0.471291;
    
   // When to start the trajectory: 1s from now
   //goal.trajectory.header.stamp = ros::Time::now() + ros::Duration(1.0);
   traj_client_->sendGoal(DMPgoal);
   
   for (int i=0;i<10;i++) {
     sleep(0.5);
     trajectory_msgs::JointTrajectoryPoint DMPnew_goal;
     DMPnew_goal.positions.resize(7);   
     DMPnew_goal.positions[0] = -0.11976;
     DMPnew_goal.positions[1] = -1.84794;
     DMPnew_goal.positions[2] = 0.285349-i*0.02;
     DMPnew_goal.positions[3] = 2.84315;
     DMPnew_goal.positions[4] = -0.310117;
     DMPnew_goal.positions[5] = -1.21896;
     DMPnew_goal.positions[6] = 0.0192133;
     
     pub.publish(DMPnew_goal);
   }     
 }

	//! Sends the command to start a given trajectory
    void startTrajectory(arm_navigation_msgs::MoveArmGoal& goal)
    {
        traj_client_->sendGoal(goal);
    }

 //! Sends the command to start a given trajectory
 void startTrajectory(pr2_controllers_msgs::JointTrajectoryGoal goal)
 {
   // When to start the trajectory: 1s from now
   goal.trajectory.header.stamp = ros::Time::now() + ros::Duration(1.0);
   traj_client_->sendGoal(goal);
 }

//send a desired joint trajectory to the joint trajectory action
  //and wait for it to finish
  bool execute_joint_trajectory(std::vector<double *> joint_trajectory)
  {
    int i, j; 
    int trajectorylength = joint_trajectory.size();

    //get the current joint angles
    double current_angles[6];    
    get_current_joint_angles(current_angles);

    //fill the goal message with the desired joint trajectory
    goal.trajectory.points.resize(trajectorylength+1);

    //set the first trajectory point to the current position
    goal.trajectory.points[0].positions.resize(6);
    goal.trajectory.points[0].velocities.resize(6);
    for(j=0; j<6; j++)
    {
      goal.trajectory.points[0].positions[j] = current_angles[j];
      goal.trajectory.points[0].velocities[j] = 0.0; 
    }

   //make the first trajectory point start 0.25 seconds from when we run
    goal.trajectory.points[0].time_from_start = ros::Duration(0.25);     

    //fill in the rest of the trajectory
    double time_from_start = 0.25;
    for(i=0; i<trajectorylength; i++)
    {
      goal.trajectory.points[i+1].positions.resize(6);
      goal.trajectory.points[i+1].velocities.resize(6);

      //fill in the joint positions (velocities of 0 mean that the arm
      //will try to stop briefly at each waypoint)
      for(j=0; j<6; j++)
      {
        goal.trajectory.points[i+1].positions[j] = joint_trajectory[i][j];
        goal.trajectory.points[i+1].velocities[j] = 0.0;
      }

      //compute a desired time for this trajectory point using a max 
      //joint velocity
      double max_joint_move = 0;
      for(j=0; j<6; j++)
      {
        double joint_move = fabs(goal.trajectory.points[i+1].positions[j] 
                                 - goal.trajectory.points[i].positions[j]);
        if(joint_move > max_joint_move) max_joint_move = joint_move;
      }
      double seconds = max_joint_move/MAX_JOINT_VEL;
      ROS_INFO("max_joint_move: %0.3f, seconds: %0.3f", max_joint_move, seconds);
      time_from_start += seconds;
      goal.trajectory.points[i+1].time_from_start = 
        ros::Duration(time_from_start);
    }

    //when to start the trajectory
    goal.trajectory.header.stamp = ros::Time::now() + ros::Duration(0.25);

    ROS_INFO("Sending goal to joint_trajectory_action");
    action_client->sendGoal(goal);

    action_client->waitForResult();

    //get the current joint angles for debugging
    get_current_joint_angles(current_angles);
//    ROS_INFO("joint angles after trajectory: %0.3f %0.3f %0.3f %0.3f %0.3f %0.3f %0.3f\n",current_angles[0],current_angles[1],current_angles[2],current_angles[3],current_angles[4],current_angles[5]);

    if(action_client->getState() == actionlib::SimpleClientGoalState::SUCCEEDED){
      ROS_INFO("Hooray, the arm finished the trajectory!");
      return 1;
    }
    ROS_INFO("The arm failed to execute the trajectory.");
    return 0;
  }