Classes | Namespaces
phalange.h File Reference
#include "ros/ros.h"
#include "icr_msgs/SetPose.h"
#include "icr_msgs/StampedContactPose.h"
#include <icr_msgs/ContactState.h>
#include <tf/transform_listener.h>
#include <tf/message_filter.h>
#include <geometry_msgs/PoseStamped.h>
#include <tf/tf.h>
#include <string>
#include "model_server.h"
#include <boost/thread/mutex.hpp>
#include <boost/shared_ptr.hpp>
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Classes

class  ICR::Phalange
 This class represents a phalange of the hand. It subscribes to gazebo_msgs/ContactsState outputted by the sensor_bumpers and computes the average contact position and normal direction for a given target object. If the phalange is not in contact, the contact pose defaults to a predefined pose. Also, the contact pose expressed in the target object frame is computed. Note, that presently the published geometry_msgs/StampedPose message can create problems when visualizing in Rviz. This is due to the fact that Rviz only buffers 5 geometry_msgs/StampedPose msgs and proper tf transformations might not be available at the time the contact pose is published. This can be fixed by increasing the buffer size in rviz/src/rviz/default_plugin/pose_display.cpp and recompiling Rviz. Currently (in ROS Electric) there is no way to increase Rviz's tf::MessageFilter queue at runtime. Also using a topic_tools/throttle should fix the problem (did not test it though...) More...

Namespaces

namespace  ICR
 

Subscribes to gazebo_msgs/ContactsState outputted by the sensor_bumpers and computes the average contact position.




icr
Author(s): Robert Krug
autogenerated on Mon Jan 6 2014 11:36:10