IRI ROS Specific Driver Class. More...

#include <tibi_dabo_head_driver_node.h>

Inheritance diagram for TibiDaboHeadDriverNode:

Public Member Functions
	TibiDaboHeadDriverNode (ros::NodeHandle &nh)
	constructor
	~TibiDaboHeadDriverNode (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	facial_expression_callback (const std_msgs::String::ConstPtr &msg)
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	joint_position_callback (const trajectory_msgs::JointTrajectoryPoint::ConstPtr &msg)
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
CMutex	facial_expression_mutex_
ros::Subscriber	facial_expression_subscriber_
ros::Publisher	joint_feedback_publisher_
IriActionServer < control_msgs::FollowJointTrajectoryAction >	joint_motion_aserver_
CMutex	joint_position_mutex_
ros::Subscriber	joint_position_subscriber_
sensor_msgs::JointState	JointState_msg_
IriActionServer < tibi_dabo_msgs::sequenceAction >	motion_sequence_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 64 of file tibi_dabo_head_driver_node.h.

Constructor & Destructor Documentation

TibiDaboHeadDriverNode::TibiDaboHeadDriverNode ( ros::NodeHandle & nh )

constructor

This constructor mainly creates and initializes the TibiDaboHeadDriverNode 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_head_driver_node.cpp.

TibiDaboHeadDriverNode::~TibiDaboHeadDriverNode ( void )

Destructor.

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

Definition at line 525 of file tibi_dabo_head_driver_node.cpp.

Member Function Documentation

void TibiDaboHeadDriverNode::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< TibiDaboHeadDriver >.

Definition at line 504 of file tibi_dabo_head_driver_node.cpp.

void TibiDaboHeadDriverNode::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< TibiDaboHeadDriver >.

Definition at line 509 of file tibi_dabo_head_driver_node.cpp.

void TibiDaboHeadDriverNode::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< TibiDaboHeadDriver >.

Definition at line 517 of file tibi_dabo_head_driver_node.cpp.

void TibiDaboHeadDriverNode::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< TibiDaboHeadDriver >.

Definition at line 513 of file tibi_dabo_head_driver_node.cpp.

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

Definition at line 104 of file tibi_dabo_head_driver_node.cpp.

void TibiDaboHeadDriverNode::facial_expression_callback ( const std_msgs::String::ConstPtr & msg ) [private]

Definition at line 160 of file tibi_dabo_head_driver_node.cpp.

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

Definition at line 452 of file tibi_dabo_head_driver_node.cpp.

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

Definition at line 433 of file tibi_dabo_head_driver_node.cpp.

bool TibiDaboHeadDriverNode::joint_motion_hasSucceedCallback ( void ) [private]

Definition at line 414 of file tibi_dabo_head_driver_node.cpp.

bool TibiDaboHeadDriverNode::joint_motion_isFinishedCallback ( void ) [private]

Definition at line 395 of file tibi_dabo_head_driver_node.cpp.

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

Definition at line 318 of file tibi_dabo_head_driver_node.cpp.

void TibiDaboHeadDriverNode::joint_motion_stopCallback ( void ) [private]

Definition at line 376 of file tibi_dabo_head_driver_node.cpp.

void TibiDaboHeadDriverNode::joint_position_callback ( const trajectory_msgs::JointTrajectoryPoint::ConstPtr & msg ) [private]

Definition at line 133 of file tibi_dabo_head_driver_node.cpp.

void TibiDaboHeadDriverNode::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< TibiDaboHeadDriver >.

Definition at line 62 of file tibi_dabo_head_driver_node.cpp.

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

Definition at line 298 of file tibi_dabo_head_driver_node.cpp.

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

Definition at line 279 of file tibi_dabo_head_driver_node.cpp.

bool TibiDaboHeadDriverNode::motion_sequence_hasSucceedCallback ( void ) [private]

Definition at line 260 of file tibi_dabo_head_driver_node.cpp.

bool TibiDaboHeadDriverNode::motion_sequence_isFinishedCallback ( void ) [private]

Definition at line 241 of file tibi_dabo_head_driver_node.cpp.

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

Definition at line 187 of file tibi_dabo_head_driver_node.cpp.

void TibiDaboHeadDriverNode::motion_sequence_stopCallback ( void ) [private]

Definition at line 222 of file tibi_dabo_head_driver_node.cpp.

void TibiDaboHeadDriverNode::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< TibiDaboHeadDriver >.

Definition at line 481 of file tibi_dabo_head_driver_node.cpp.

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

Reimplemented from iri_base_driver::IriBaseNodeDriver< TibiDaboHeadDriver >.

Definition at line 489 of file tibi_dabo_head_driver_node.cpp.

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

specific node dynamic reconfigure

This function is called reconfigureHook()

Parameters:

level integer

Implements iri_base_driver::IriBaseNodeDriver< TibiDaboHeadDriver >.

Definition at line 521 of file tibi_dabo_head_driver_node.cpp.