IRI ROS Specific Driver Class. More...

#include <darwin_robot_driver_node.h>

Inheritance diagram for DarwinRobotDriverNode:

Public Member Functions
	DarwinRobotDriverNode (ros::NodeHandle &nh)
	constructor
	~DarwinRobotDriverNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	addNodeOpenedTests (void)
	open status driver tests
void	addNodeRunningTests (void)
	run status driver tests
void	addNodeStoppedTests (void)
	stop status driver tests
void	mainNodeThread (void)
	main node thread
void	reconfigureNodeHook (int level)
	specific node dynamic reconfigure
Private Member Functions
void	cmd_vel_callback (const geometry_msgs::Twist::ConstPtr &msg)
void	execute_action_callback (const std_msgs::Int32::ConstPtr &msg)
void	head_target_callback (const std_msgs::Float64MultiArray::ConstPtr &msg)
void	move_jointsGetFeedbackCallback (control_msgs::FollowJointTrajectoryFeedbackPtr &feedback)
void	move_jointsGetResultCallback (control_msgs::FollowJointTrajectoryResultPtr &result)
bool	move_jointsHasSucceedCallback (void)
bool	move_jointsIsFinishedCallback (void)
void	move_jointsStartCallback (const control_msgs::FollowJointTrajectoryGoalConstPtr &goal)
void	move_jointsStopCallback (void)
void	move_left_arm_jointsGetFeedbackCallback (control_msgs::FollowJointTrajectoryFeedbackPtr &feedback)
void	move_left_arm_jointsGetResultCallback (control_msgs::FollowJointTrajectoryResultPtr &result)
bool	move_left_arm_jointsHasSucceedCallback (void)
bool	move_left_arm_jointsIsFinishedCallback (void)
void	move_left_arm_jointsStartCallback (const control_msgs::FollowJointTrajectoryGoalConstPtr &goal)
void	move_left_arm_jointsStopCallback (void)
void	move_right_arm_jointsGetFeedbackCallback (control_msgs::FollowJointTrajectoryFeedbackPtr &feedback)
void	move_right_arm_jointsGetResultCallback (control_msgs::FollowJointTrajectoryResultPtr &result)
bool	move_right_arm_jointsHasSucceedCallback (void)
bool	move_right_arm_jointsIsFinishedCallback (void)
void	move_right_arm_jointsStartCallback (const control_msgs::FollowJointTrajectoryGoalConstPtr &goal)
void	move_right_arm_jointsStopCallback (void)
void	postNodeOpenHook (void)
	post open hook
void	tracking_headGetFeedbackCallback (iri_darwin_robot::tracking_headFeedbackPtr &feedback)
void	tracking_headGetResultCallback (iri_darwin_robot::tracking_headResultPtr &result)
bool	tracking_headHasSucceedCallback (void)
bool	tracking_headIsFinishedCallback (void)
void	tracking_headStartCallback (const iri_darwin_robot::tracking_headGoalConstPtr &goal)
void	tracking_headStopCallback (void)
Private Attributes
ros::Publisher	adc_channels_publisher_
CMutex	cmd_vel_mutex_
ros::Subscriber	cmd_vel_subscriber_
CMutex	execute_action_mutex_
ros::Subscriber	execute_action_subscriber_
std_msgs::Float64MultiArray	Float64MultiArray_msg_
std::string	general_target_id
std_msgs::Float64MultiArray	head_target_
CMutex	head_target_mutex_
ros::Subscriber	head_target_subscriber_
sensor_msgs::Imu	Imu_msg_
ros::Publisher	inertial_publisher_
ros::Publisher	joint_states_publisher_
sensor_msgs::JointState	JointState_msg_
std::string	left_arm_target_id
IriActionServer < control_msgs::FollowJointTrajectoryAction >	move_joints_aserver_
IriActionServer < control_msgs::FollowJointTrajectoryAction >	move_left_arm_joints_aserver_
IriActionServer < control_msgs::FollowJointTrajectoryAction >	move_right_arm_joints_aserver_
std::string	right_arm_target_id
IriActionServer < iri_darwin_robot::tracking_headAction >	tracking_head_aserver_

Detailed Description

IRI ROS Specific Driver Class.

This class inherits from the IRI Core class IriBaseNodeDriver<IriBaseDriver>, to provide an execution thread to the driver object. A complete framework with utilites to test the node functionallity or to add diagnostics to specific situations is also given. The inherit template design form allows complete access to any IriBaseDriver object implementation.

As mentioned, tests in the different driver states can be performed through class methods such as addNodeOpenedTests() or addNodeRunningTests(). Tests common to all nodes may be also executed in the pattern class IriBaseNodeDriver. Similarly to the tests, diagnostics can easyly be added. See ROS Wiki for more details: http://www.ros.org/wiki/diagnostics/ (Tutorials: Creating a Diagnostic Analyzer) http://www.ros.org/wiki/self_test/ (Example: Self Test)

Definition at line 62 of file darwin_robot_driver_node.h.

Constructor & Destructor Documentation

DarwinRobotDriverNode::DarwinRobotDriverNode ( ros::NodeHandle & nh )

constructor

This constructor mainly creates and initializes the DarwinNodeDriverNode topics through the given public_node_handle object. IriBaseNodeDriver attributes may be also modified to suit node specifications.

All kind of ROS topics (publishers, subscribers, servers or clients) can be easyly generated with the scripts in the iri_ros_scripts package. Refer to ROS and IRI Wiki pages for more details:

http://www.ros.org/wiki/ROS/Tutorials/WritingPublisherSubscriber(c++) http://www.ros.org/wiki/ROS/Tutorials/WritingServiceClient(c++) http://wikiri.upc.es/index.php/Robotics_Lab

Parameters:

nh	a reference to the node handle object to manage all ROS topics.

Definition at line 4 of file darwin_robot_driver_node.cpp.

DarwinRobotDriverNode::~DarwinRobotDriverNode ( void )

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 647 of file darwin_robot_driver_node.cpp.

Member Function Documentation

void DarwinRobotDriverNode::addNodeDiagnostics ( void ) [protected, virtual]

node add diagnostics

In this function ROS diagnostics applied to this specific node may be added. Common use diagnostics for all nodes are already called from IriBaseNodeDriver::addDiagnostics(), which also calls this function. Information of how ROS diagnostics work can be readen here: http://www.ros.org/wiki/diagnostics/ http://www.ros.org/doc/api/diagnostic_updater/html/example_8cpp-source.html

Implements iri_base_driver::IriBaseNodeDriver< DarwinRobotDriver >.

Definition at line 627 of file darwin_robot_driver_node.cpp.

void DarwinRobotDriverNode::addNodeOpenedTests ( void ) [protected, virtual]

open status driver tests

In this function tests checking driver's functionallity when driver_base status=open can be added. Common use tests for all nodes are already called from IriBaseNodeDriver tests methods. For more details on how ROS tests work, please refer to the Self Test example in: http://www.ros.org/wiki/self_test/

Implements iri_base_driver::IriBaseNodeDriver< DarwinRobotDriver >.

Definition at line 631 of file darwin_robot_driver_node.cpp.

void DarwinRobotDriverNode::addNodeRunningTests ( void ) [protected, virtual]

run status driver tests

In this function tests checking driver's functionallity when driver_base status=run can be added. Common use tests for all nodes are already called from IriBaseNodeDriver tests methods. For more details on how ROS tests work, please refer to the Self Test example in: http://www.ros.org/wiki/self_test/

Implements iri_base_driver::IriBaseNodeDriver< DarwinRobotDriver >.

Definition at line 639 of file darwin_robot_driver_node.cpp.

void DarwinRobotDriverNode::addNodeStoppedTests ( void ) [protected, virtual]

stop status driver tests

In this function tests checking driver's functionallity when driver_base status=stop can be added. Common use tests for all nodes are already called from IriBaseNodeDriver tests methods. For more details on how ROS tests work, please refer to the Self Test example in: http://www.ros.org/wiki/self_test/

Implements iri_base_driver::IriBaseNodeDriver< DarwinRobotDriver >.

Definition at line 635 of file darwin_robot_driver_node.cpp.

void DarwinRobotDriverNode::cmd_vel_callback ( const geometry_msgs::Twist::ConstPtr & msg ) [private]

Definition at line 206 of file darwin_robot_driver_node.cpp.

void DarwinRobotDriverNode::execute_action_callback ( const std_msgs::Int32::ConstPtr & msg ) [private]

Definition at line 192 of file darwin_robot_driver_node.cpp.

void DarwinRobotDriverNode::head_target_callback ( const std_msgs::Float64MultiArray::ConstPtr & msg ) [private]

Definition at line 175 of file darwin_robot_driver_node.cpp.

void DarwinRobotDriverNode::mainNodeThread ( void ) [protected, virtual]

main node thread

This is the main thread node function. Code written here will be executed in every node loop while the driver is on running state. Loop frequency can be tuned by modifying loop_rate attribute.

Here data related to the process loop or to ROS topics (mainly data structs related to the MSG and SRV files) must be updated. ROS publisher objects must publish their data in this process. ROS client servers may also request data to the corresponding server topics.

Implements iri_base_driver::IriBaseNodeDriver< DarwinRobotDriver >.

Definition at line 64 of file darwin_robot_driver_node.cpp.

void DarwinRobotDriverNode::move_jointsGetFeedbackCallback ( control_msgs::FollowJointTrajectoryFeedbackPtr & feedback ) [private]

Definition at line 614 of file darwin_robot_driver_node.cpp.

void DarwinRobotDriverNode::move_jointsGetResultCallback ( control_msgs::FollowJointTrajectoryResultPtr & result ) [private]

Definition at line 606 of file darwin_robot_driver_node.cpp.

bool DarwinRobotDriverNode::move_jointsHasSucceedCallback ( void ) [private]

Definition at line 594 of file darwin_robot_driver_node.cpp.

bool DarwinRobotDriverNode::move_jointsIsFinishedCallback ( void ) [private]

Definition at line 581 of file darwin_robot_driver_node.cpp.

void DarwinRobotDriverNode::move_jointsStartCallback ( const control_msgs::FollowJointTrajectoryGoalConstPtr & goal ) [private]

Definition at line 495 of file darwin_robot_driver_node.cpp.

void DarwinRobotDriverNode::move_jointsStopCallback ( void ) [private]

Definition at line 573 of file darwin_robot_driver_node.cpp.

void DarwinRobotDriverNode::move_left_arm_jointsGetFeedbackCallback ( control_msgs::FollowJointTrajectoryFeedbackPtr & feedback ) [private]

Definition at line 488 of file darwin_robot_driver_node.cpp.

void DarwinRobotDriverNode::move_left_arm_jointsGetResultCallback ( control_msgs::FollowJointTrajectoryResultPtr & result ) [private]

Definition at line 480 of file darwin_robot_driver_node.cpp.

bool DarwinRobotDriverNode::move_left_arm_jointsHasSucceedCallback ( void ) [private]

Definition at line 468 of file darwin_robot_driver_node.cpp.

bool DarwinRobotDriverNode::move_left_arm_jointsIsFinishedCallback ( void ) [private]

Definition at line 455 of file darwin_robot_driver_node.cpp.

void DarwinRobotDriverNode::move_left_arm_jointsStartCallback ( const control_msgs::FollowJointTrajectoryGoalConstPtr & goal ) [private]

Definition at line 410 of file darwin_robot_driver_node.cpp.

void DarwinRobotDriverNode::move_left_arm_jointsStopCallback ( void ) [private]

Definition at line 447 of file darwin_robot_driver_node.cpp.

void DarwinRobotDriverNode::move_right_arm_jointsGetFeedbackCallback ( control_msgs::FollowJointTrajectoryFeedbackPtr & feedback ) [private]

Definition at line 403 of file darwin_robot_driver_node.cpp.

void DarwinRobotDriverNode::move_right_arm_jointsGetResultCallback ( control_msgs::FollowJointTrajectoryResultPtr & result ) [private]

Definition at line 395 of file darwin_robot_driver_node.cpp.

bool DarwinRobotDriverNode::move_right_arm_jointsHasSucceedCallback ( void ) [private]

Definition at line 383 of file darwin_robot_driver_node.cpp.

bool DarwinRobotDriverNode::move_right_arm_jointsIsFinishedCallback ( void ) [private]

Definition at line 370 of file darwin_robot_driver_node.cpp.

void DarwinRobotDriverNode::move_right_arm_jointsStartCallback ( const control_msgs::FollowJointTrajectoryGoalConstPtr & goal ) [private]

Definition at line 325 of file darwin_robot_driver_node.cpp.

void DarwinRobotDriverNode::move_right_arm_jointsStopCallback ( void ) [private]

Definition at line 362 of file darwin_robot_driver_node.cpp.

void DarwinRobotDriverNode::postNodeOpenHook ( void ) [private, virtual]

post open hook

This function is called by IriBaseNodeDriver::postOpenHook(). In this function specific parameters from the driver must be added so the ROS dynamic reconfigure application can update them.

Implements iri_base_driver::IriBaseNodeDriver< DarwinRobotDriver >.

Definition at line 623 of file darwin_robot_driver_node.cpp.

void DarwinRobotDriverNode::reconfigureNodeHook ( int level ) [protected, virtual]

specific node dynamic reconfigure

This function is called reconfigureHook()

Parameters:

level integer

Implements iri_base_driver::IriBaseNodeDriver< DarwinRobotDriver >.

Definition at line 643 of file darwin_robot_driver_node.cpp.

void DarwinRobotDriverNode::tracking_headGetFeedbackCallback ( iri_darwin_robot::tracking_headFeedbackPtr & feedback ) [private]

Definition at line 314 of file darwin_robot_driver_node.cpp.

void DarwinRobotDriverNode::tracking_headGetResultCallback ( iri_darwin_robot::tracking_headResultPtr & result ) [private]