本书源代码包括第一版和第二版

#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 < n_dof_; ++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 < n_dof_; ++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 ‘“ << jnt_names[i] << “‘ in the PositionJointInterface.“）;
    }

    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 < n_dof_; ++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 ‘“ << name << “‘.“）;
      }
      else
      {
        jnt_limits_interface_.registerHandle（
            PositionJointSoftLimitsHandle（cmd_handle limits soft_limits））;

        ROS_DEBUG_STREAM（“Joint limits will be enforced for joint ‘“ << name << “‘.“）;
      }
    }

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

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

    return

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           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-develREADME.md
     目录           0  2017-02-22 15:09  Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-develchapter10_tutorials
     文件        1523  2017-02-22 15:09  Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-develchapter10_tutorialsLICENSE
     文件        1798  2017-02-22 15:09  Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-develchapter10_tutorialsREADME.md
     目录           0  2017-02-22 15:09  Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-develchapter10_tutorialschapter10_tutorials
     文件         118  2017-02-22 15:09  Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-develchapter10_tutorialschapter10_tutorialsCMakeLists.txt
     文件         564  2017-02-22 15:09  Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-develchapter10_tutorialschapter10_tutorialspackage.xml
     目录           0  2017-02-22 15:09  Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-develchapter10_tutorialsimages
     文件      146480  2017-02-22 15:09  Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-develchapter10_tutorialsimages
osbook_arm_moveit.png
     文件      116044  2017-02-22 15:09  Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-develchapter10_tutorialsimages
osbook_arm_moveit_no_controllers.png
     目录           0  2017-02-22 15:09  Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-develchapter10_tutorials
osbook_arm_bringup
     文件         251  2017-02-22 15:09  Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-develchapter10_tutorials
osbook_arm_bringupCMakeLists.txt
     目录           0  2017-02-22 15:09  Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-develchapter10_tutorials
osbook_arm_bringupconfig
     文件         213  2017-02-22 15:09  Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-develchapter10_tutorials
osbook_arm_bringupconfigapproach_planner.yaml
     文件         832  2017-02-22 15:09  Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-develchapter10_tutorials
osbook_arm_bringupconfig
osbook_arm_motions.yaml
     目录           0  2017-02-22 15:09  Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-develchapter10_tutorials
osbook_arm_bringuplaunch
     文件         366  2017-02-22 15:09  Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-develchapter10_tutorials
osbook_arm_bringuplaunchplay_motion.launch
     文件         615  2017-02-22 15:09  Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-develchapter10_tutorials
osbook_arm_bringuplaunch
osbook_arm_bringup.launch
     文件         657  2017-02-22 15:09  Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-develchapter10_tutorials
osbook_arm_bringuppackage.xml
     目录           0  2017-02-22 15:09  Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-develchapter10_tutorials
osbook_arm_controller_configuration
     文件         261  2017-02-22 15:09  Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-develchapter10_tutorials
osbook_arm_controller_configurationCMakeLists.txt
     目录           0  2017-02-22 15:09  Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-develchapter10_tutorials
osbook_arm_controller_configurationlaunch
     文件         366  2017-02-22 15:09  Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-develchapter10_tutorials
osbook_arm_controller_configurationlaunchdefault_controllers.launch
     文件         585  2017-02-22 15:09  Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-develchapter10_tutorials
osbook_arm_controller_configurationpackage.xml
     目录           0  2017-02-22 15:09  Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-develchapter10_tutorials
osbook_arm_controller_configuration_gazebo
     文件         268  2017-02-22 15:09  Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-develchapter10_tutorials
osbook_arm_controller_configuration_gazeboCMakeLists.txt
     目录           0  2017-02-22 15:09  Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-develchapter10_tutorials
osbook_arm_controller_configuration_gazeboconfig
     文件         933  2017-02-22 15:09  Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-develchapter10_tutorials
osbook_arm_controller_configuration_gazeboconfigjoint_trajectory_controllers.yaml
     文件         569  2017-02-22 15:09  Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-develchapter10_tutorials
osbook_arm_controller_configuration_gazeboconfigpids.yaml
     文件         462  2017-02-22 15:09  Learning_ROS_for_Robotics_Programming_2nd_edition-hydro-develchapter10_tutorials
osbook_arm_controller_configuration_gazebopackage.xml
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