rcvNewPose.cpp

rcvNewPose.cpp

1. Receive pose data of end-effector continuously from HoloLens and publish it as a pose msg.

2. Subscribe joint state msg from 'CommandRobotMoveit' node and send its joint position array to HoloLens continuously.

In rcvMappingData.cpp,

1. TCP socket communication is used.
2. Save the mapping data with .txt file.
3. Convert the mapping data in .txt file to .off files.

Addition:

• In the code, for socket communication, port num: 9192 is used. You can change this number.
• And all used function is C language so you can change this file to rcvMappingData.c
• Also you have to change the absolute path of fopen()

Details:

int ReadInt (unsigned char * message) {...}

This function inverts the order of char[] and converts to an integer. Because there is a different byte order between computers which is called host byte order. This can be solved using this function or just using htonl() in sending side and ntohl() in receiving side.

int printOutput (unsigned char * mesh_arr, int byteSize) {...}

This function creates a .txt file from received multiple mesh data. In each mesh data, there is 8 byte mesh header which contains the number of vertices(vertexCount) and the number of all indices of triangles(triangleIndexCount). And it has coordinates of all vertices(vertexCount * 3 * 4 byte) and list of 3 indices composing triangles(triangleIndexCount * 4 byte).

int ConvertToOFF () {...}

This function creates .off files from a former .txt file. The created files are named with 'environment_mesh_number.off'. Each .off files are beginning with the keyword OFF. In second line, there are the number of vertices(vertexCount), the number of faces(triangleIndexCount/3), and the number of edges(0). From the third line, all vertices are listed with x, y, z coordinates. However, because the mesh data follows left-handed coordinate system (because of HoloLens), it needed to be corrected to right-handed coordinate system. So I changed sign of x coordinate. After the list of coordinates, all faces are listed. For each face, the number of vertices is specified, followed by indices of vertices.

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