Generic template that reads state-data from a robot controller and publishes matching messages to various ROS topics. More...

Public Member Functions
void	add_handler (MessageHandler *handler, bool allow_replace=true)
	Add a new handler.
SmplMsgConnection *	get_connection ()
	get current robot-connection instance.
std::vector< std::string >	get_joint_names ()
MessageManager *	get_manager ()
	get active message-manager object
bool	init (std::string default_ip="", int default_port=StandardSocketPorts::STATE)
	Initialize robot connection using default method.
bool	init (SmplMsgConnection *connection)
	Initialize robot connection using specified method.
bool	init (SmplMsgConnection *connection, std::vector< std::string > &joint_names)
	Initialize robot connection using specified method and joint-names.
	RobotStateInterface ()
	Default constructor.
void	run ()
	Begin processing messages and publishing topics.
Protected Attributes
SmplMsgConnection *	connection_
JointRelayHandler	default_joint_handler_
RobotStatusRelayHandler	default_robot_status_handler_
TcpClient	default_tcp_connection_
std::vector< std::string >	joint_names_
MessageManager	manager_

Detailed Description

Generic template that reads state-data from a robot controller and publishes matching messages to various ROS topics.

Users should replace the default class members to implement robot-specific behavior.

Definition at line 66 of file robot_state_interface.h.

Constructor & Destructor Documentation

industrial_robot_client::robot_state_interface::RobotStateInterface::RobotStateInterface ( )

Default constructor.

Definition at line 44 of file robot_state_interface.cpp.

void industrial_robot_client::robot_state_interface::RobotStateInterface::add_handler	(	MessageHandler *	handler,
		bool	allow_replace = `true`
	)		`[inline]`

Add a new handler.

Parameters:

new	message-handler for a specific msg-type (ALREADY INITIALIZED).
replace	existing handler (of same msg-type), if exists

Definition at line 147 of file robot_state_interface.h.

SmplMsgConnection* industrial_robot_client::robot_state_interface::RobotStateInterface::get_connection ( ) [inline]

get current robot-connection instance.

Definition at line 120 of file robot_state_interface.h.

std::vector<std::string> industrial_robot_client::robot_state_interface::RobotStateInterface::get_joint_names ( ) [inline]

Definition at line 135 of file robot_state_interface.h.

MessageManager* industrial_robot_client::robot_state_interface::RobotStateInterface::get_manager ( ) [inline]

get active message-manager object

Definition at line 130 of file robot_state_interface.h.

bool industrial_robot_client::robot_state_interface::RobotStateInterface::init	(	std::string	default_ip = `""`,
		int	default_port = `StandardSocketPorts::STATE`
	)

Initialize robot connection using default method.

Parameters:

default_ip	default IP address to use for robot connection [OPTIONAL] this value will be used if ROS param "robot_ip_address" cannot be read
default_port	default port to use for robot connection [OPTIONAL] this value will be used if ROS param "~port" cannot be read

Definition at line 51 of file robot_state_interface.cpp.

bool industrial_robot_client::robot_state_interface::RobotStateInterface::init ( SmplMsgConnection * connection )

Initialize robot connection using specified method.

Parameters:

connection new robot-connection instance (ALREADY INITIALIZED).

Definition at line 80 of file robot_state_interface.cpp.

bool industrial_robot_client::robot_state_interface::RobotStateInterface::init	(	SmplMsgConnection *	connection,
		std::vector< std::string > &	joint_names
	)

Initialize robot connection using specified method and joint-names.

Parameters:

connection	new robot-connection instance (ALREADY INITIALIZED).
joint_names	list of joint-names for ROS topic Count and order should match data sent to robot connection. Use blank-name to skip (not publish) a joint-position