#include?

#include?

#include?
#include?

#include?

#include?

namespace?rosbook_arm_hardware_gazebo
{
??using?namespace?hardware_interface;

??ROSBookArmHardwareGazebo::ROSBookArmHardwareGazebo（）
????:?gazebo_ros_control::RobotHWSim（）
??{}


??bool?ROSBookArmHardwareGazebo::initSim（const?std::string&?robot_namespace
??????ros::NodeHandle?nh
??????gazebo::physics::ModelPtr?model
??????const?urdf::Model*?const?urdf_model
??????std::vector?transmissions）
??{
????using?gazebo::physics::JointPtr;

????//?Cleanup
????sim_joints_.clear（）;
????jnt_pos_.clear（）;
????jnt_vel_.clear（）;
????jnt_eff_.clear（）;
????jnt_pos_cmd_.clear（）;

????//?Simulation?joints
????sim_joints_?=?model->GetJoints（）;
????n_dof_?=?sim_joints_.size（）;

????std::vector?jnt_names;
????for?（size_t?i?=?0;?i?????{
??????jnt_names.push_back（sim_joints_[i]->GetName（））;
????}

????//?Raw?data
????jnt_pos_.resize（n_dof_）;
????jnt_vel_.resize（n_dof_）;
????jnt_eff_.resize（n_dof_）;
????jnt_pos_cmd_.resize（n_dof_）;

????//?Hardware?interfaces
????for?（size_t?i?=?0;?i?????{
??????jnt_state_interface_.registerHandle（
??????????JointStateHandle（jnt_names[i]?&jnt_pos_[i]?&jnt_vel_[i]?&jnt_eff_[i]））;

??????jnt_pos_cmd_interface_.registerHandle（
??????????JointHandle（jnt_state_interface_.getHandle（jnt_names[i]）?&jnt_pos_cmd_[i]））;

??????ROS_DEBUG_STREAM（“Registered?joint?‘“?<????}

????registerInterface（&jnt_state_interface_）;
????registerInterface（&jnt_pos_cmd_interface_）;

????//?Position?joint?limits?interface
????std::vector?cmd_handle_names?=?jnt_pos_cmd_interface_.getNames（）;
????for?（size_t?i?=?0;?i?????{
??????const?std::string?name?=?cmd_handle_names[i];
??????JointHandle?cmd_handle?=?jnt_pos_cmd_interface_.getHandle（name）;

??????using?namespace?joint_limits_interface;
??????boost::shared_ptr?urdf_joint?=?urdf_model->getJoint（name）;
??????JointLimits?limits;
??????SoftJointLimits?soft_limits;
??????if?（!getJointLimits（urdf_joint?limits）?||?!getSoftJointLimits（urdf_joint?soft_limits））
??????{
????????ROS_WARN_STREAM（“Joint?limits?won‘t?be?enforced?for?joint?‘“?<??????}
??????else
??????{
????????jnt_limits_interface_.registerHandle（
????????????PositionJointSoftLimitsHandle（cmd_handle?limits?soft_limits））;

????????ROS_DEBUG_STREAM（“Joint?limits?will?be?enforced?for?joint?‘“?<??????}
????}

????//?PID?controllers
????pids_.resize（n_dof_）;
????for?（size_t?i?=?0;?i?????{
??????ros::NodeHandle?joint_nh（nh?“gains/“?+?jnt_names[i]）;

??????if?（!pids_[i].init（joint_nh））
??????{
????????return?false;
??????}
????}

????return

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2017-02-22?15:09??Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-devel\
?????文件????????2498??2017-02-22?15:09??Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-devel\README.md
?????目錄???????????0??2017-02-22?15:09??Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-devel\chapter10_tutorials\
?????文件????????1523??2017-02-22?15:09??Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-devel\chapter10_tutorials\LICENSE
?????文件????????1798??2017-02-22?15:09??Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-devel\chapter10_tutorials\README.md
?????目錄???????????0??2017-02-22?15:09??Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-devel\chapter10_tutorials\chapter10_tutorials\
?????文件?????????118??2017-02-22?15:09??Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-devel\chapter10_tutorials\chapter10_tutorials\CMakeLists.txt
?????文件?????????564??2017-02-22?15:09??Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-devel\chapter10_tutorials\chapter10_tutorials\package.xml
?????目錄???????????0??2017-02-22?15:09??Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-devel\chapter10_tutorials\images\
?????文件??????146480??2017-02-22?15:09??Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-devel\chapter10_tutorials\images\rosbook_arm_moveit.png
?????文件??????116044??2017-02-22?15:09??Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-devel\chapter10_tutorials\images\rosbook_arm_moveit_no_controllers.png
?????目錄???????????0??2017-02-22?15:09??Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-devel\chapter10_tutorials\rosbook_arm_bringup\
?????文件?????????251??2017-02-22?15:09??Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-devel\chapter10_tutorials\rosbook_arm_bringup\CMakeLists.txt
?????目錄???????????0??2017-02-22?15:09??Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-devel\chapter10_tutorials\rosbook_arm_bringup\config\
?????文件?????????213??2017-02-22?15:09??Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-devel\chapter10_tutorials\rosbook_arm_bringup\config\approach_planner.yaml
?????文件?????????832??2017-02-22?15:09??Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-devel\chapter10_tutorials\rosbook_arm_bringup\config\rosbook_arm_motions.yaml
?????目錄???????????0??2017-02-22?15:09??Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-devel\chapter10_tutorials\rosbook_arm_bringup\launch\
?????文件?????????366??2017-02-22?15:09??Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-devel\chapter10_tutorials\rosbook_arm_bringup\launch\play_motion.launch
?????文件?????????615??2017-02-22?15:09??Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-devel\chapter10_tutorials\rosbook_arm_bringup\launch\rosbook_arm_bringup.launch
?????文件?????????657??2017-02-22?15:09??Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-devel\chapter10_tutorials\rosbook_arm_bringup\package.xml
?????目錄???????????0??2017-02-22?15:09??Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-devel\chapter10_tutorials\rosbook_arm_controller_configuration\
?????文件?????????261??2017-02-22?15:09??Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-devel\chapter10_tutorials\rosbook_arm_controller_configuration\CMakeLists.txt
?????目錄???????????0??2017-02-22?15:09??Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-devel\chapter10_tutorials\rosbook_arm_controller_configuration\launch\
?????文件?????????366??2017-02-22?15:09??Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-devel\chapter10_tutorials\rosbook_arm_controller_configuration\launch\default_controllers.launch
?????文件?????????585??2017-02-22?15:09??Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-devel\chapter10_tutorials\rosbook_arm_controller_configuration\package.xml
?????目錄???????????0??2017-02-22?15:09??Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-devel\chapter10_tutorials\rosbook_arm_controller_configuration_gazebo\
?????文件?????????268??2017-02-22?15:09??Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-devel\chapter10_tutorials\rosbook_arm_controller_configuration_gazebo\CMakeLists.txt
?????目錄???????????0??2017-02-22?15:09??Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-devel\chapter10_tutorials\rosbook_arm_controller_configuration_gazebo\config\
?????文件?????????933??2017-02-22?15:09??Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-devel\chapter10_tutorials\rosbook_arm_controller_configuration_gazebo\config\joint_trajectory_controllers.yaml
?????文件?????????569??2017-02-22?15:09??Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-devel\chapter10_tutorials\rosbook_arm_controller_configuration_gazebo\config\pids.yaml
?????文件?????????462??2017-02-22?15:09??Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-devel\chapter10_tutorials\rosbook_arm_controller_configuration_gazebo\package.xml
............此處省略384個文件信息