temp

dxl_armed_turtlebot/euslisp/dxl-armed-turtlebot-interface.l

@@ -6,28 +6,27 @@
 (require :robot-interface "package://pr2eus/robot-interface.l")
 
 ;; loadする台車・アームのrobot-interfaceクラスのメソッド定義ファイル
-(load "package://turtleboteus/euslisp/turtlebot-interface-common.l")
+(load "package://turtleboteus/euslisp/turtlebot-interface.l")
 (load "package://dynamixel_7dof_arm/euslisp/dxl-7dof-arm-interface-common.l")
 
 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
 ;; アーム台車ロボットのrobot-interfaceクラス定義
 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
 (defclass dxl-armed-turtlebot-interface
   :super robot-interface
-  :slots (gripper-action))
+  :slots ((robot-base :forward (:def-vector-value :raw-bumper-data :raw-button-data :raw-wheel-drop-data :raw-cliff-data :raw-imu-data :imurot :update-robot-state :bumper-vector :button-vector :wheel-drop-vector :cliff-vector :cliff-bottom-vector :imucoords :power-system-vector :publish-led :publish-sound :go-stop :move-to :go-pos :go-velocity))
+          gripper-action))
 
 (eval `(defmethod dxl-armed-turtlebot-interface
-         ;; dxl-7dof-arm-interface, turtlebot-interfaceのメソッドをそれぞれdefmethodする
          ,@(get-method-list-for-dxl-7dof-arm-interface)
-         ,@(get-method-list-for-turtlebot-interface)
          ))
 (defmethod dxl-armed-turtlebot-interface
   (:init
    (&rest args)
    (prog1
        (send-super* :init :robot dxl-armed-turtlebot-robot args)
-     ;; それぞれのcallback登録など
-     (send self :initialize-turtlebot-ros)
+
+     (setq robot-base (instance turtlebot-interface :init))
      (send self :initialize-arm-robot-ros)
      )
    )

dxl_armed_turtlebot/euslisp/dxl-armed-turtlebot.l

@@ -6,6 +6,25 @@
 (require :turtlebot-with-sensors-robot "package://turtleboteus/euslisp/turtlebot-with-sensors-robot.l")
 (require :dxl-7dof-arm-robot "package://dynamixel_7dof_arm/euslisp/dxl-7dof-arm-robot.l")
 
+
+;; forward function
+(defun forward-function-list (keyword-list)
+  (let (forward-methods
+        (arm-robot-methods (send (instance dxl-7dof-arm-robot :init) :methods)))
+    (setq forward-methods
+          (flatten
+           (remove-duplicates
+            (mapcar
+             #'(lambda (keyword)
+                 (remove-if-not
+                  #'(lambda (x) (substringp keyword (string-downcase x)))
+                  arm-robot-methods))
+             keyword-list
+             ))))
+    forward-methods))
+(setq key-funcs (forward-function-list (list "arm"))) ;;global var
+
+
 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
 ;; アーム台車ロボットモデルクラス
 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
@@ -116,3 +135,5 @@
         :rotation-axis nil :debug-view t)
   )
 |#
+
+(setq *r* (dxl-armed-turtlebot))