#include <RobotInfo.h>

Public Member Functions
sensor_msgs::JointState	getCurrentJointState (ros::NodeHandle &n)
sensor_msgs::JointState	getCurrentJointState (const std::string &topicName, ros::NodeHandle &n)
geometry_msgs::PoseStamped	getCurrentRobotPose (ros::NodeHandle &n)
geometry_msgs::PoseStamped	getCurrentRobotPose (const std::string &topicName, ros::NodeHandle &n)
geometry_msgs::PoseWithCovarianceStamped	getCurrentRobotPoseWithCovariance (ros::NodeHandle &n)
geometry_msgs::PoseWithCovarianceStamped	getCurrentRobotPoseWithCovariance (const std::string &topicName, ros::NodeHandle &n)
sensor_msgs::MultiDOFJointState	getCurrentVirtualJointState (const std::string &poseTopicName, ros::NodeHandle &n, const std::string &virtualJointName, const std::string &frameID)
	RobotInfo (const std::string &default_robot_pose_topic="/amcl_pose", const std::string &default_joint_states_topic="/joint_states")
	~RobotInfo ()
Static Public Member Functions
static sensor_msgs::MultiDOFJointState	getVirtualJointState (const geometry_msgs::PoseStamped &robotPose, const std::string &virtualJointName, const std::string &frameID)
Private Types
typedef baselib_binding::mutex	mutex
typedef baselib_binding::unique_lock < mutex >::type	unique_lock
Private Member Functions
void	jointStateCallback (const sensor_msgs::JointState &jointstate)
void	poseCallback (const geometry_msgs::PoseWithCovarianceStamped &msg)
bool	receivedJointState ()
bool	receivedRobotPose ()
Private Attributes
std::string	joint_states_topic
sensor_msgs::JointState	jointState
mutex	jointStateMutex
geometry_msgs::PoseWithCovarianceStamped	pose
mutex	poseMutex
bool	received_js
bool	received_rp
std::string	robot_pose_topic

Detailed Description

A helper class which includes convenience function to access the most recent information of the robot state. This class is not continuously subscribed to topics. The subscribers are launched on-demand, so it is suitable if you only need the states now and then, and not continuously.

Author:: Jennifer Buehler

Definition at line 22 of file RobotInfo.h.

Member Typedef Documentation

typedef baselib_binding::mutex convenience_ros_functions::RobotInfo::mutex [private]

Definition at line 63 of file RobotInfo.h.

typedef baselib_binding::unique_lock<mutex>::type convenience_ros_functions::RobotInfo::unique_lock [private]

Definition at line 64 of file RobotInfo.h.

Constructor & Destructor Documentation

RobotInfo::RobotInfo	(	const std::string &	default_robot_pose_topic = `"/amcl_pose"`,
		const std::string &	default_joint_states_topic = `"/joint_states"`
	)

Parameters:

default_robot_pose_topic	the default robot pose topic. This allows convenience functions to be called without specifying the topic every time.
default_joint_states_topic	the default joint states topic. This allows convenience functions to be called without specifying the topic every time.

Definition at line 7 of file RobotInfo.cpp.

RobotInfo::~RobotInfo ( )

Definition at line 13 of file RobotInfo.cpp.

Member Function Documentation

sensor_msgs::JointState RobotInfo::getCurrentJointState ( ros::NodeHandle & n )

Definition at line 74 of file RobotInfo.cpp.

sensor_msgs::JointState RobotInfo::getCurrentJointState	(	const std::string &	topicName,
		ros::NodeHandle &	n
	)

Definition at line 52 of file RobotInfo.cpp.

geometry_msgs::PoseStamped RobotInfo::getCurrentRobotPose ( ros::NodeHandle & n )

Definition at line 15 of file RobotInfo.cpp.

geometry_msgs::PoseStamped RobotInfo::getCurrentRobotPose	(	const std::string &	topicName,
		ros::NodeHandle &	n
	)

Definition at line 19 of file RobotInfo.cpp.

geometry_msgs::PoseWithCovarianceStamped RobotInfo::getCurrentRobotPoseWithCovariance ( ros::NodeHandle & n )

Definition at line 48 of file RobotInfo.cpp.

geometry_msgs::PoseWithCovarianceStamped RobotInfo::getCurrentRobotPoseWithCovariance	(	const std::string &	topicName,
		ros::NodeHandle &	n
	)

Definition at line 27 of file RobotInfo.cpp.

sensor_msgs::MultiDOFJointState RobotInfo::getCurrentVirtualJointState	(	const std::string &	poseTopicName,
		ros::NodeHandle &	n,
		const std::string &	virtualJointName,
		const std::string &	frameID
	)

get the current robot pose, and get it as a MulitDOFJointState, transformed to the most recent transform available in frame_id

Definition at line 118 of file RobotInfo.cpp.

sensor_msgs::MultiDOFJointState RobotInfo::getVirtualJointState	(	const geometry_msgs::PoseStamped &	robotPose,
		const std::string &	virtualJointName,
		const std::string &	frameID
	)		`[static]`

Transforms the robotPose into frameID and then constructs a sensor_msgs::MultiDOFJointState using this transformed pose.

Background info: MoveIt likes to have the MultiDOFJointState in the frame specified at configuration time (e.g. odom) and seems to have trouble converting it. So do it here. If this frame changes, pass it into "frame_id" parameter.

Definition at line 80 of file RobotInfo.cpp.

void RobotInfo::jointStateCallback ( const sensor_msgs::JointState & jointstate ) [private]

Definition at line 129 of file RobotInfo.cpp.

void RobotInfo::poseCallback ( const geometry_msgs::PoseWithCovarianceStamped & msg ) [private]

Definition at line 140 of file RobotInfo.cpp.

bool RobotInfo::receivedJointState ( ) [private]

Definition at line 124 of file RobotInfo.cpp.

bool RobotInfo::receivedRobotPose ( ) [private]

Definition at line 135 of file RobotInfo.cpp.