Public Member Functions | Private Member Functions | Private Attributes
generic_control_toolbox::ControllerActionNode Class Reference

#include <controller_action_node.hpp>

List of all members.

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

Definition at line 5 of file controller_action_node.cpp.

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.

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:
controllerAny controller which complies with ControllerBase.

Definition at line 24 of file controller_action_node.cpp.


Member Data Documentation

Definition at line 38 of file controller_action_node.hpp.

Definition at line 36 of file controller_action_node.hpp.

Definition at line 39 of file controller_action_node.hpp.

Definition at line 34 of file controller_action_node.hpp.

sensor_msgs::JointState generic_control_toolbox::ControllerActionNode::state_ [private]

Definition at line 35 of file controller_action_node.hpp.

Definition at line 37 of file controller_action_node.hpp.


The documentation for this class was generated from the following files:


generic_control_toolbox
Author(s): diogo
autogenerated on Thu Jun 6 2019 18:02:57