unitree_ros/unitree_controller/src/move_publisher.cpp at master · unitreerobotics/unitree_ros · GitHub

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#include <ros/ros.h>
#include <gazebo_msgs/ModelState.h>
#include <gazebo_msgs/SetModelState.h>
#include <string>
#include <stdio.h>
#include <tf/transform_datatypes.h>
// #include <std_msgs/Float64.h>
#include <math.h>
#include <iostream>

int main(int argc, char **argv)
{
    enum coord
    {
        WORLD,
        ROBOT
    };
    coord def_frame = coord::WORLD;

    ros::init(argc, argv, "move_publisher");
    ros::NodeHandle nh;
    ros::Publisher move_publisher = nh.advertise<gazebo_msgs::ModelState>("/gazebo/set_model_state", 1000);

    gazebo_msgs::ModelState model_state_pub;

    std::string robot_name;
    ros::param::get("/robot_name", robot_name);
    std::cout << "robot_name: " << robot_name << std::endl;

    model_state_pub.model_name = robot_name + "_gazebo";
    ros::Rate loop_rate(1000);

    if(def_frame == coord::WORLD)
    {
        model_state_pub.pose.position.x = 0.0;
        model_state_pub.pose.position.y = 0.0;
        model_state_pub.pose.position.z = 0.5;

        model_state_pub.pose.orientation.x = 0.0;
        model_state_pub.pose.orientation.y = 0.0;
        model_state_pub.pose.orientation.z = 0.0;
        model_state_pub.pose.orientation.w = 1.0;

        model_state_pub.reference_frame = "world";

        long long time_ms = 0;  //time, ms
        const double period = 5000; //ms
        const double radius = 1.5;    //m
        tf::Quaternion q;
        while(ros::ok())
        {
            model_state_pub.pose.position.x = radius * sin(2*M_PI*(double)time_ms/period);
            model_state_pub.pose.position.y = radius * cos(2*M_PI*(double)time_ms/period);
            model_state_pub.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(0, 0, - 2*M_PI*(double)time_ms/period);

            move_publisher.publish(model_state_pub);
            loop_rate.sleep();
            time_ms += 1;
        }
    }
    else if(def_frame == coord::ROBOT)
    {
        model_state_pub.twist.linear.x= 0.02; //0.02: 2cm/sec
        model_state_pub.twist.linear.y= 0.0;
        model_state_pub.twist.linear.z= 0.08;

        model_state_pub.twist.angular.x= 0.0;
        model_state_pub.twist.angular.y= 0.0;
        model_state_pub.twist.angular.z= 0.0;

        model_state_pub.reference_frame = "base";

        while(ros::ok())
        {
            move_publisher.publish(model_state_pub);
            loop_rate.sleep();
        }
    }

}