IRI ROS Specific Driver Class. More...

#include <tibi_dabo_arm_driver_node.h>

Inheritance diagram for TibiDaboArmDriverNode:

Public Member Functions
	TibiDaboArmDriverNode (ros::NodeHandle &nh)
	constructor
	~TibiDaboArmDriverNode (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	check_motion_sequence_status (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	mainNodeThread (void)
	main node thread
void	reconfigureNodeHook (int level)
	specific node dynamic reconfigure
Private Member Functions
void	joint_motion_getFeedbackCallback (control_msgs::FollowJointTrajectoryFeedbackPtr &feedback)
void	joint_motion_getResultCallback (control_msgs::FollowJointTrajectoryResultPtr &result)
bool	joint_motion_hasSucceedCallback (void)
bool	joint_motion_isFinishedCallback (void)
void	joint_motion_startCallback (const control_msgs::FollowJointTrajectoryGoalConstPtr &goal)
void	joint_motion_stopCallback (void)
void	motion_sequence_getFeedbackCallback (tibi_dabo_msgs::sequenceFeedbackPtr &feedback)
void	motion_sequence_getResultCallback (tibi_dabo_msgs::sequenceResultPtr &result)
bool	motion_sequence_hasSucceedCallback (void)
bool	motion_sequence_isFinishedCallback (void)
void	motion_sequence_startCallback (const tibi_dabo_msgs::sequenceGoalConstPtr &goal)
void	motion_sequence_stopCallback (void)
void	postNodeOpenHook (void)
	post open hook
void	preNodeCloseHook (void)
Private Attributes
ros::Publisher	joint_feedback_publisher_
IriActionServer < control_msgs::FollowJointTrajectoryAction >	joint_motion_aserver_
sensor_msgs::JointState	JointState_msg_
IriActionServer < tibi_dabo_msgs::sequenceAction >	motion_sequence_aserver_
std::string	robot_id
std::string	side_id

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 tibi_dabo_arm_driver_node.h.

Constructor & Destructor Documentation

TibiDaboArmDriverNode::TibiDaboArmDriverNode ( ros::NodeHandle & nh )

constructor

This constructor mainly creates and initializes the TibiDaboArmDriverNode 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 tibi_dabo_arm_driver_node.cpp.

TibiDaboArmDriverNode::~TibiDaboArmDriverNode ( void )

Destructor.

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

Definition at line 575 of file tibi_dabo_arm_driver_node.cpp.

Member Function Documentation

void TibiDaboArmDriverNode::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< TibiDaboArmDriver >.

Definition at line 554 of file tibi_dabo_arm_driver_node.cpp.

void TibiDaboArmDriverNode::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< TibiDaboArmDriver >.

Definition at line 559 of file tibi_dabo_arm_driver_node.cpp.

void TibiDaboArmDriverNode::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< TibiDaboArmDriver >.

Definition at line 567 of file tibi_dabo_arm_driver_node.cpp.

void TibiDaboArmDriverNode::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< TibiDaboArmDriver >.

Definition at line 563 of file tibi_dabo_arm_driver_node.cpp.

void TibiDaboArmDriverNode::check_motion_sequence_status ( diagnostic_updater::DiagnosticStatusWrapper & stat ) [protected]

Definition at line 124 of file tibi_dabo_arm_driver_node.cpp.

void TibiDaboArmDriverNode::joint_motion_getFeedbackCallback ( control_msgs::FollowJointTrajectoryFeedbackPtr & feedback ) [private]

Definition at line 502 of file tibi_dabo_arm_driver_node.cpp.

void TibiDaboArmDriverNode::joint_motion_getResultCallback ( control_msgs::FollowJointTrajectoryResultPtr & result ) [private]

Definition at line 483 of file tibi_dabo_arm_driver_node.cpp.

bool TibiDaboArmDriverNode::joint_motion_hasSucceedCallback ( void ) [private]

Definition at line 464 of file tibi_dabo_arm_driver_node.cpp.

bool TibiDaboArmDriverNode::joint_motion_isFinishedCallback ( void ) [private]

Definition at line 445 of file tibi_dabo_arm_driver_node.cpp.

void TibiDaboArmDriverNode::joint_motion_startCallback ( const control_msgs::FollowJointTrajectoryGoalConstPtr & goal ) [private]

Definition at line 288 of file tibi_dabo_arm_driver_node.cpp.

void TibiDaboArmDriverNode::joint_motion_stopCallback ( void ) [private]

Definition at line 427 of file tibi_dabo_arm_driver_node.cpp.

void TibiDaboArmDriverNode::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< TibiDaboArmDriver >.

Definition at line 63 of file tibi_dabo_arm_driver_node.cpp.

void TibiDaboArmDriverNode::motion_sequence_getFeedbackCallback ( tibi_dabo_msgs::sequenceFeedbackPtr & feedback ) [private]

Definition at line 268 of file tibi_dabo_arm_driver_node.cpp.

void TibiDaboArmDriverNode::motion_sequence_getResultCallback ( tibi_dabo_msgs::sequenceResultPtr & result ) [private]

Definition at line 249 of file tibi_dabo_arm_driver_node.cpp.

bool TibiDaboArmDriverNode::motion_sequence_hasSucceedCallback ( void ) [private]

Definition at line 230 of file tibi_dabo_arm_driver_node.cpp.

bool TibiDaboArmDriverNode::motion_sequence_isFinishedCallback ( void ) [private]

Definition at line 211 of file tibi_dabo_arm_driver_node.cpp.

void TibiDaboArmDriverNode::motion_sequence_startCallback ( const tibi_dabo_msgs::sequenceGoalConstPtr & goal ) [private]

Definition at line 157 of file tibi_dabo_arm_driver_node.cpp.

void TibiDaboArmDriverNode::motion_sequence_stopCallback ( void ) [private]

Definition at line 192 of file tibi_dabo_arm_driver_node.cpp.

void TibiDaboArmDriverNode::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< TibiDaboArmDriver >.

Definition at line 532 of file tibi_dabo_arm_driver_node.cpp.

void TibiDaboArmDriverNode::preNodeCloseHook ( void ) [private, virtual]

Reimplemented from iri_base_driver::IriBaseNodeDriver< TibiDaboArmDriver >.

Definition at line 540 of file tibi_dabo_arm_driver_node.cpp.

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

specific node dynamic reconfigure

This function is called reconfigureHook()

Parameters:

level integer

Implements iri_base_driver::IriBaseNodeDriver< TibiDaboArmDriver >.

Definition at line 571 of file tibi_dabo_arm_driver_node.cpp.