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Publish target joint states #341

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Publish target joint states #341

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3 changes: 3 additions & 0 deletions include/ur_modern_driver/ros/rt_publisher.h
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Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,7 @@ class RTPublisher : public URRTPacketConsumer
private:
NodeHandle nh_;
Publisher joint_pub_;
Publisher target_joint_pub_;
Publisher wrench_pub_;
Publisher tool_vel_pub_;
Publisher joint_temperature_pub_;
Expand All @@ -56,6 +57,7 @@ class RTPublisher : public URRTPacketConsumer
bool temp_only_;

bool publishJoints(RTShared& packet, Time& t);
bool publishTargetJoints(RTShared& packet, Time& t);
bool publishWrench(RTShared& packet, Time& t);
bool publishTool(RTShared& packet, Time& t);
bool publishTransform(RTShared& packet, Time& t);
Expand All @@ -66,6 +68,7 @@ class RTPublisher : public URRTPacketConsumer
public:
RTPublisher(std::string& joint_prefix, std::string& base_frame, std::string& tool_frame, bool temp_only = false)
: joint_pub_(nh_.advertise<sensor_msgs::JointState>("joint_states", 1))
, target_joint_pub_(nh_.advertise<sensor_msgs::JointState>("target_joint_states", 1))
, wrench_pub_(nh_.advertise<geometry_msgs::WrenchStamped>("wrench", 1))
, tool_vel_pub_(nh_.advertise<geometry_msgs::TwistStamped>("tool_velocity", 1))
, joint_temperature_pub_(nh_.advertise<sensor_msgs::Temperature>("joint_temperature", 1))
Expand Down
18 changes: 17 additions & 1 deletion src/ros/rt_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,21 @@ bool RTPublisher::publishJoints(RTShared& packet, Time& t)
return true;
}

bool RTPublisher::publishTargetJoints(RTShared& packet, Time& t)
{
sensor_msgs::JointState joint_msg;
joint_msg.header.stamp = t;

joint_msg.name.assign(joint_names_.begin(), joint_names_.end());
joint_msg.position.assign(packet.q_target.begin(), packet.q_target.end());
joint_msg.velocity.assign(packet.qd_target.begin(), packet.qd_target.end());
joint_msg.effort.assign(packet.i_target.begin(), packet.i_target.end());

target_joint_pub_.publish(joint_msg);

return true;
}

bool RTPublisher::publishWrench(RTShared& packet, Time& t)
{
geometry_msgs::WrenchStamped wrench_msg;
Expand Down Expand Up @@ -121,7 +136,8 @@ bool RTPublisher::publish(RTShared& packet)
res = publishJoints(packet, time) && publishWrench(packet, time);
}

return res && publishTool(packet, time) && publishTransform(packet, time) && publishTemperature(packet, time);
return res && publishTargetJoints(packet, time) && publishTool(packet, time) && publishTransform(packet, time) &&
publishTemperature(packet, time);
}

bool RTPublisher::consume(RTState_V1_6__7& state)
Expand Down