Message handler that relays joint positions (converts simple message types to ROS message types and publishes them) More...

Inheritance diagram for industrial_robot_client::joint_relay_handler::JointRelayHandler:

Public Member Functions
bool	init (industrial::smpl_msg_connection::SmplMsgConnection *connection, std::vector< std::string > &joint_names)
	Class initializer.
	JointRelayHandler ()
	Constructor.
Protected Member Functions
virtual bool	create_messages (JointMessage &msg_in, control_msgs::FollowJointTrajectoryFeedback control_state, sensor_msgs::JointState sensor_state)
	Convert joint message into publish message-types.
bool	internalCB (JointMessage &in)
	Callback executed upon receiving a joint message.
virtual bool	select (const std::vector< double > &all_joint_pos, const std::vector< std::string > &all_joint_names, std::vector< double > pub_joint_pos, std::vector< std::string > pub_joint_names)
	Select specific joints for publishing.
virtual bool	transform (const std::vector< double > &pos_in, std::vector< double > *pos_out)
	Transform joint positions before publishing. Can be overridden to implement, e.g. robot-specific joint coupling.
Protected Attributes
std::vector< std::string >	all_joint_names_
ros::NodeHandle	node_
ros::Publisher	pub_joint_control_state_
ros::Publisher	pub_joint_sensor_state_
Private Member Functions
bool	internalCB (SimpleMessage &in)
	Callback executed upon receiving a message.

Detailed Description

Message handler that relays joint positions (converts simple message types to ROS message types and publishes them)

THIS CLASS IS NOT THREAD-SAFE

Definition at line 61 of file joint_relay_handler.h.

Constructor & Destructor Documentation

industrial_robot_client::joint_relay_handler::JointRelayHandler::JointRelayHandler ( ) [inline]

Constructor.

Definition at line 71 of file joint_relay_handler.h.

bool industrial_robot_client::joint_relay_handler::JointRelayHandler::create_messages	(	JointMessage &	msg_in,
		control_msgs::FollowJointTrajectoryFeedback *	control_state,
		sensor_msgs::JointState *	sensor_state
	)		`[protected, virtual]`

Convert joint message into publish message-types.

Parameters:

[in]	msg_in	Joint message from robot connection
[out]	control_state	FollowJointTrajectoryFeedback message for ROS publishing
[out]	sensor_state	JointState message for ROS publishing

Definition at line 98 of file joint_relay_handler.cpp.

bool industrial_robot_client::joint_relay_handler::JointRelayHandler::init	(	industrial::smpl_msg_connection::SmplMsgConnection *	connection,
		std::vector< std::string > &	joint_names
	)

Class initializer.

Parameters:

connection	simple message connection that will be used to send replies.
joint_names	list of joint-names for msg-publishing. Count and order should match data from robot connection. Use blank-name to exclude a joint from publishing.

Definition at line 46 of file joint_relay_handler.cpp.

bool industrial_robot_client::joint_relay_handler::JointRelayHandler::internalCB ( JointMessage & in ) [protected]

Callback executed upon receiving a joint message.

Parameters:

in	incoming message

Definition at line 72 of file joint_relay_handler.cpp.

bool industrial_robot_client::joint_relay_handler::JointRelayHandler::internalCB ( SimpleMessage & in ) [private, virtual]

Callback executed upon receiving a message.

Parameters:

in	incoming message

Definition at line 59 of file joint_relay_handler.cpp.

bool industrial_robot_client::joint_relay_handler::JointRelayHandler::select	(	const std::vector< double > &	all_joint_pos,
		const std::vector< std::string > &	all_joint_names,
		std::vector< double > *	pub_joint_pos,
		std::vector< std::string > *	pub_joint_names
	)		`[protected, virtual]`

Select specific joints for publishing.

Parameters:

[in]	all_joint_pos	joint positions, in count/order matching robot connection
[in]	all_joint_names	joint names, matching all_joint_pos
[out]	pub_joint_pos	joint positions selected for publishing
[out]	pub_joint_names	joint names selected for publishing

Definition at line 146 of file joint_relay_handler.cpp.

virtual bool industrial_robot_client::joint_relay_handler::JointRelayHandler::transform	(	const std::vector< double > &	pos_in,
		std::vector< double > *	pos_out
	)		`[inline, protected, virtual]`