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Linked Lucy Control Panel with ROS 2 Control Joint Interface #23

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Linked Lucy Control Panel with ROS 2 Control Joint Interface #23

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4 changes: 2 additions & 2 deletions src/Constants/rosConfig.ts
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
export const ROS_CONFIG = {
jointStateTopic: {
name: '/joints/right_arm',
messageType: 'sensor_msgs/JointState'
name: '/right_arm_controller/joint_trajectory',
messageType: 'trajectory_msgs/msg/JointTrajectory'
}
};

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18 changes: 9 additions & 9 deletions src/Pages/RobotControlPanel.tsx
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Expand Up @@ -141,15 +141,15 @@ export const RobotControlPanel: React.FC = () => {
/* Fixtures for first demo - awaiting servos indications in urdf */
const max_hand_angle = 5.236; // approx 300 degrees in radians
const rightArmFixtures: JointControlState[] = [
{ name: 'right_shoulder_yaw_joint', currentValue: 2.79, targetValue: 2.79, minValue: 0, maxValue: max_hand_angle, type: 'revolute', category: 'Right Arm' },
{ name: 'right_shoulder_roll_joint', currentValue: 3.14, targetValue: 3.14, minValue: 0, maxValue: max_hand_angle, type: 'revolute', category: 'Right Arm' },
{ name: 'right_elbow_joint', currentValue: 1.74, targetValue: 1.74, minValue: 0, maxValue: max_hand_angle, type: 'revolute', category: 'Right Arm' },
{ name: 'right_wrist_joint', currentValue: 2.62, targetValue: 2.62, minValue: 0, maxValue: max_hand_angle, type: 'revolute', category: 'Right Hand' },
{ name: 'right_thumb_joint', currentValue: 0, targetValue: 0, minValue: 0, maxValue: max_hand_angle, type: 'revolute', category: 'Right Hand' },
{ name: 'right_index_joint', currentValue: 0, targetValue: 0, minValue: 0, maxValue: max_hand_angle, type: 'revolute', category: 'Right Hand' },
{ name: 'right_middle_joint', currentValue: 0, targetValue: 0, minValue: 0, maxValue: max_hand_angle, type: 'revolute', category: 'Right Hand' },
{ name: 'right_ring_joint', currentValue: 0, targetValue: 0, minValue: 0, maxValue: max_hand_angle, type: 'revolute', category: 'Right Hand' },
{ name: 'right_pinky_joint', currentValue: 0, targetValue: 0, minValue: 0, maxValue: max_hand_angle, type: 'revolute', category: 'Right Hand' },
{ name: 'right_shoulder_yaw', currentValue: 2.79, targetValue: 2.79, minValue: 0, maxValue: max_hand_angle, type: 'revolute', category: 'Right Arm' },
{ name: 'right_shoulder_roll', currentValue: 3.14, targetValue: 3.14, minValue: 0, maxValue: max_hand_angle, type: 'revolute', category: 'Right Arm' },
{ name: 'right_elbow', currentValue: 1.74, targetValue: 1.74, minValue: 0, maxValue: max_hand_angle, type: 'revolute', category: 'Right Arm' },
{ name: 'right_wrist', currentValue: 2.62, targetValue: 2.62, minValue: 0, maxValue: max_hand_angle, type: 'revolute', category: 'Right Hand' },
{ name: 'right_thumb', currentValue: 0, targetValue: 0, minValue: 0, maxValue: max_hand_angle, type: 'revolute', category: 'Right Hand' },
{ name: 'right_index', currentValue: 0, targetValue: 0, minValue: 0, maxValue: max_hand_angle, type: 'revolute', category: 'Right Hand' },
{ name: 'right_middle', currentValue: 0, targetValue: 0, minValue: 0, maxValue: max_hand_angle, type: 'revolute', category: 'Right Hand' },
{ name: 'right_ring', currentValue: 0, targetValue: 0, minValue: 0, maxValue: max_hand_angle, type: 'revolute', category: 'Right Hand' },
{ name: 'right_pinky', currentValue: 0, targetValue: 0, minValue: 0, maxValue: max_hand_angle, type: 'revolute', category: 'Right Hand' },
]

const loadUrdfData = () => {
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7 changes: 6 additions & 1 deletion src/Services/ros/handlers/JointState.handler.ts
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Expand Up @@ -73,7 +73,12 @@ export class JointStateHandler {
}

const message = new ROSLIB.Message({
position: joints.map(j => radianToDegree(j.currentValue)),
joint_names: joints.map(j => j.name),
points: [
{
positions: joints.map(j => radianToDegree(j.currentValue)),
}
]
});
this.jointStateTopic.publish(message);
}
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