#include <controller_action_node.hpp>

Public Member Functions
	ControllerActionNode ()
void	runController (ControllerBase &controller)
	~ControllerActionNode ()
Private Member Functions
void	jointStatesCb (const sensor_msgs::JointState::ConstPtr &msg)
Private Attributes
bool	got_first_
ros::Subscriber	joint_state_sub_
double	loop_rate_
ros::NodeHandle	nh_
sensor_msgs::JointState	state_
ros::Publisher	state_pub_

Detailed Description

Maintains a generic action node which integrates the controller template in a stand-alone ROS node, for systems where using ROS control is not an option.

Definition at line 15 of file controller_action_node.hpp.

Constructor & Destructor Documentation

generic_control_toolbox::ControllerActionNode::ControllerActionNode ( )

Definition at line 5 of file controller_action_node.cpp.

generic_control_toolbox::ControllerActionNode::~ControllerActionNode ( )

Definition at line 22 of file controller_action_node.cpp.

Member Function Documentation

void generic_control_toolbox::ControllerActionNode::jointStatesCb ( const sensor_msgs::JointState::ConstPtr & msg ) [private]

Definition at line 64 of file controller_action_node.cpp.

void generic_control_toolbox::ControllerActionNode::runController ( ControllerBase & controller )

This blocking method will run the controller by providing it with the currently available joint states and time intervals between calls. It will publish the controller output to the robot command topic.

Parameters:

controller Any controller which complies with ControllerBase.

Definition at line 24 of file controller_action_node.cpp.