IRI ROS Specific Driver Class. More...

#include <wam_driver_node.h>

Inheritance diagram for WamDriverNode:

Public Member Functions
	WamDriverNode (ros::NodeHandle &nh)
	constructor
	~WamDriverNode ()
	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 Types
typedef actionlib::ActionServer < control_msgs::FollowJointTrajectoryAction >	ActionExecutor
typedef actionlib::ActionServer < control_msgs::FollowJointTrajectoryAction >	ActionExecutorFollow
typedef ActionExecutor::GoalHandle	GoalHandle
typedef ActionExecutorFollow::GoalHandle	GoalHandleFollow
Private Member Functions
void	canceFollowlCB (GoalHandleFollow gh)
void	cancelCB (GoalHandle gh)
void	DMPTrackerGetFeedbackCallback (iri_wam_common_msgs::DMPTrackerFeedbackPtr &feedback)
void	DMPTrackerGetResultCallback (iri_wam_common_msgs::DMPTrackerResultPtr &result)
bool	DMPTrackerHasSucceedCallback (void)
bool	DMPTrackerIsFinishedCallback (void)
void	DMPTrackerNewGoal_callback (const trajectory_msgs::JointTrajectoryPoint::ConstPtr &msg)
void	DMPTrackerStartCallback (const iri_wam_common_msgs::DMPTrackerGoalConstPtr &goal)
void	DMPTrackerStopCallback (void)
void	goalCB (GoalHandle gh)
void	goalFollowCB (GoalHandleFollow gh)
void	jnt_pos_cmd_callback (const wam_msgs::RTJointPos::ConstPtr &msg)
void	joint_trajectoryGetFeedbackCallback (control_msgs::FollowJointTrajectoryFeedbackPtr &feedback)
void	joint_trajectoryGetResultCallback (control_msgs::FollowJointTrajectoryResultPtr &result)
bool	joint_trajectoryHasSucceedCallback (void)
bool	joint_trajectoryIsFinishedCallback (void)
void	joint_trajectoryStartCallback (const control_msgs::FollowJointTrajectoryGoalConstPtr &goal)
void	joint_trajectoryStopCallback (void)
bool	joints_moveCallback (iri_wam_common_msgs::joints_move::Request &req, iri_wam_common_msgs::joints_move::Response &res)
void	lwpr_trajectory_serverGetFeedbackCallback (iri_wam_common_msgs::LWPRTrajectoryReturningForceEstimationFeedbackPtr &feedback)
void	lwpr_trajectory_serverGetResultCallback (iri_wam_common_msgs::LWPRTrajectoryReturningForceEstimationResultPtr &result)
bool	lwpr_trajectory_serverHasSucceedCallback (void)
bool	lwpr_trajectory_serverIsFinishedCallback (void)
void	lwpr_trajectory_serverStartCallback (const iri_wam_common_msgs::LWPRTrajectoryReturningForceEstimationGoalConstPtr &goal)
void	lwpr_trajectory_serverStopCallback (void)
bool	pose_moveCallback (iri_wam_common_msgs::pose_move::Request &req, iri_wam_common_msgs::pose_move::Response &res)
void	postNodeOpenHook (void)
	post open hook
void	trajectory2follow (trajectory_msgs::JointTrajectory traj, bool &state)
bool	wam_servicesCallback (iri_wam_common_msgs::wamdriver::Request &req, iri_wam_common_msgs::wamdriver::Response &res)
Private Attributes
IriActionServer < iri_wam_common_msgs::DMPTrackerAction >	DMPTracker_aserver_
CMutex	DMPTrackerNewGoal_mutex_
ros::Subscriber	DMPTrackerNewGoal_subscriber_
IriActionServer < control_msgs::FollowJointTrajectoryAction >	follow_joint_trajectory_server_
CMutex	jnt_pos_cmd_mutex_
ros::Subscriber	jnt_pos_cmd_subscriber_
ros::Publisher	joint_states_publisher
ros::ServiceServer	joints_move_server
sensor_msgs::JointState	JointState_msg
IriActionServer < iri_wam_common_msgs::LWPRTrajectoryReturningForceEstimationAction >	lwpr_trajectory_server_aserver_
ros::ServiceServer	pose_move_server
ros::Publisher	pose_publisher
geometry_msgs::PoseStamped	PoseStamped_msg
ros::ServiceServer	wam_services_server_

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 73 of file wam_driver_node.h.

Member Typedef Documentation

typedef actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction> WamDriverNode::ActionExecutor [private]

Definition at line 76 of file wam_driver_node.h.

typedef actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction> WamDriverNode::ActionExecutorFollow [private]

Definition at line 79 of file wam_driver_node.h.

typedef ActionExecutor::GoalHandle WamDriverNode::GoalHandle [private]

Definition at line 77 of file wam_driver_node.h.

typedef ActionExecutorFollow::GoalHandle WamDriverNode::GoalHandleFollow [private]

Definition at line 80 of file wam_driver_node.h.

Constructor & Destructor Documentation

WamDriverNode::WamDriverNode ( ros::NodeHandle & nh )

constructor

This constructor mainly creates and initializes the WamDriverNode 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 5 of file wam_driver_node.cpp.

WamDriverNode::~WamDriverNode ( )

Destructor.

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

Definition at line 491 of file wam_driver_node.cpp.

Member Function Documentation

void WamDriverNode::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< WamDriver >.

Definition at line 471 of file wam_driver_node.cpp.

void WamDriverNode::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< WamDriver >.

Definition at line 475 of file wam_driver_node.cpp.

void WamDriverNode::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< WamDriver >.

Definition at line 483 of file wam_driver_node.cpp.

void WamDriverNode::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< WamDriver >.

Definition at line 479 of file wam_driver_node.cpp.

void WamDriverNode::canceFollowlCB ( GoalHandleFollow gh ) [private]

void WamDriverNode::cancelCB ( GoalHandle gh ) [private]

void WamDriverNode::DMPTrackerGetFeedbackCallback ( iri_wam_common_msgs::DMPTrackerFeedbackPtr & feedback ) [private]

Definition at line 288 of file wam_driver_node.cpp.

void WamDriverNode::DMPTrackerGetResultCallback ( iri_wam_common_msgs::DMPTrackerResultPtr & result ) [private]

Definition at line 280 of file wam_driver_node.cpp.

bool WamDriverNode::DMPTrackerHasSucceedCallback ( void ) [private]

Definition at line 268 of file wam_driver_node.cpp.

bool WamDriverNode::DMPTrackerIsFinishedCallback ( void ) [private]

Definition at line 256 of file wam_driver_node.cpp.

void WamDriverNode::DMPTrackerNewGoal_callback ( const trajectory_msgs::JointTrajectoryPoint::ConstPtr & msg ) [private]

Definition at line 138 of file wam_driver_node.cpp.

void WamDriverNode::DMPTrackerStartCallback ( const iri_wam_common_msgs::DMPTrackerGoalConstPtr & goal ) [private]

Definition at line 240 of file wam_driver_node.cpp.

void WamDriverNode::DMPTrackerStopCallback ( void ) [private]

Definition at line 249 of file wam_driver_node.cpp.

void WamDriverNode::goalCB ( GoalHandle gh ) [private]

Definition at line 424 of file wam_driver_node.cpp.

void WamDriverNode::goalFollowCB ( GoalHandleFollow gh ) [private]

Definition at line 433 of file wam_driver_node.cpp.

void WamDriverNode::jnt_pos_cmd_callback ( const wam_msgs::RTJointPos::ConstPtr & msg ) [private]

Definition at line 123 of file wam_driver_node.cpp.

void WamDriverNode::joint_trajectoryGetFeedbackCallback ( control_msgs::FollowJointTrajectoryFeedbackPtr & feedback ) [private]

Definition at line 415 of file wam_driver_node.cpp.

void WamDriverNode::joint_trajectoryGetResultCallback ( control_msgs::FollowJointTrajectoryResultPtr & result ) [private]

Definition at line 403 of file wam_driver_node.cpp.

bool WamDriverNode::joint_trajectoryHasSucceedCallback ( void ) [private]

Definition at line 387 of file wam_driver_node.cpp.

bool WamDriverNode::joint_trajectoryIsFinishedCallback ( void ) [private]

Definition at line 369 of file wam_driver_node.cpp.

void WamDriverNode::joint_trajectoryStartCallback ( const control_msgs::FollowJointTrajectoryGoalConstPtr & goal ) [private]

Definition at line 348 of file wam_driver_node.cpp.

void WamDriverNode::joint_trajectoryStopCallback ( void ) [private]

Definition at line 359 of file wam_driver_node.cpp.

bool WamDriverNode::joints_moveCallback	(	iri_wam_common_msgs::joints_move::Request &	req,
		iri_wam_common_msgs::joints_move::Response &	res
	)		`[private]`

Definition at line 183 of file wam_driver_node.cpp.

void WamDriverNode::lwpr_trajectory_serverGetFeedbackCallback ( iri_wam_common_msgs::LWPRTrajectoryReturningForceEstimationFeedbackPtr & feedback ) [private]

Definition at line 339 of file wam_driver_node.cpp.

void WamDriverNode::lwpr_trajectory_serverGetResultCallback ( iri_wam_common_msgs::LWPRTrajectoryReturningForceEstimationResultPtr & result ) [private]

Definition at line 332 of file wam_driver_node.cpp.

bool WamDriverNode::lwpr_trajectory_serverHasSucceedCallback ( void ) [private]

Definition at line 321 of file wam_driver_node.cpp.

bool WamDriverNode::lwpr_trajectory_serverIsFinishedCallback ( void ) [private]

Definition at line 309 of file wam_driver_node.cpp.

void WamDriverNode::lwpr_trajectory_serverStartCallback ( const iri_wam_common_msgs::LWPRTrajectoryReturningForceEstimationGoalConstPtr & goal ) [private]

Definition at line 295 of file wam_driver_node.cpp.

void WamDriverNode::lwpr_trajectory_serverStopCallback ( void ) [private]

Definition at line 302 of file wam_driver_node.cpp.

void WamDriverNode::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 my 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< WamDriver >.

Definition at line 65 of file wam_driver_node.cpp.

bool WamDriverNode::pose_moveCallback	(	iri_wam_common_msgs::pose_move::Request &	req,
		iri_wam_common_msgs::pose_move::Response &	res
	)		`[private]`

Definition at line 210 of file wam_driver_node.cpp.

void WamDriverNode::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< WamDriver >.

Definition at line 467 of file wam_driver_node.cpp.

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

specific node dynamic reconfigure

This function is called reconfigureHook()

Parameters:

level integer

Implements iri_base_driver::IriBaseNodeDriver< WamDriver >.

Definition at line 487 of file wam_driver_node.cpp.