41 double Empirical_Scale_j_thumb_opp_pos = 0.95238;
42 double Empirical_Offset_j_thumb_opp_pos = -0.0052884;
43 double jThOpp_Target_position_temp = Empirical_Scale_j_thumb_opp_pos * (j_index_flex_pos) + Empirical_Offset_j_thumb_opp_pos;
44 double jThOpp_Target_position;
46 if (jThOpp_Target_position_temp <=
ThMinPos)
47 jThOpp_Target_position =
ThMinPos + 0.02;
49 else if (jThOpp_Target_position_temp >=
ThMaxPos)
50 jThOpp_Target_position =
ThMaxPos - 0.02;
53 jThOpp_Target_position = jThOpp_Target_position_temp;
55 return jThOpp_Target_position;
67 urdf::Model urdf_model;
68 const urdf::Model *
const urdf_model_ptr = urdf_model.initString(urdf_string) ? &urdf_model : NULL;
70 const urdf::JointConstSharedPtr urdf_joint = urdf_model_ptr->getJoint(
j_thumb_name);
72 joint_limits_interface::JointLimits limits;
74 if (urdf_joint != NULL)
78 if (joint_limits_interface::getJointLimits(urdf_joint, limits))
100 std::string urdf_string;
103 while (urdf_string.empty())
105 std::string search_param_name;
107 if (
n.searchParam(param_name, search_param_name))
109 ROS_INFO_ONCE_NAMED(
"remap_mia_joint_states",
"node is waiting for model"
110 " URDF in parameter on the ROS param server.");
112 n.getParam(search_param_name, urdf_string);
116 ROS_INFO_ONCE_NAMED(
"remap_mia_joint_states",
"Node is waiting for model"
117 " URDF in parameter on the ROS param server.");
119 n.getParam(param_name, urdf_string);
124 ROS_DEBUG_STREAM_NAMED(
"remap_mia_joint_states",
"Recieved urdf from param server, parsing...");