Interface for robots based on ROS. More...

#include <vpROSRobot.h>

Inheritance diagram for vpROSRobot:

Public Member Functions
void	getDisplacement (const vpRobot::vpControlFrameType, vpColVector &)
void	getDisplacement (const vpRobot::vpControlFrameType, vpColVector &, struct timespec &timestamp)
void	getPosition (const vpRobot::vpControlFrameType, vpColVector &)
void	init ()
	basic initialization
void	init (int argc, char **argv)
void	setCmdVelTopic (std::string topic_name)
void	setMasterURI (std::string master_uri)
void	setNodespace (std::string nodespace)
void	setOdomTopic (std::string topic_name)
void	setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void	stopMotion ()
	vpROSRobot ()
	constructor
virtual	~vpROSRobot ()
	destructor
Protected Attributes
std::string	_master_uri
std::string	_nodespace
uint32_t	_nsec
uint32_t	_sec
std::string	_topic_cmd
std::string	_topic_odom
ros::Publisher	cmdvel
vpColVector	displacement
bool	isInitialized
ros::NodeHandle *	n
ros::Subscriber	odom
volatile bool	odom_mutex
vpTranslationVector	p
vpColVector	pose_prev
vpQuaternionVector	q
ros::AsyncSpinner *	spinner
Private Member Functions
void	get_eJe (vpMatrix &eJe)
void	get_fJe (vpMatrix &)
void	getArticularDisplacement (vpColVector &)
void	getCameraDisplacement (vpColVector &)
void	getVelocity (const vpRobot::vpControlFrameType frame, vpColVector &velocity)
vpColVector	getVelocity (const vpRobot::vpControlFrameType frame)
void	odomCallback (const nav_msgs::Odometry::ConstPtr &msg)
void	setPosition (const vpRobot::vpControlFrameType, const vpColVector &)
	vpROSRobot (const vpROSRobot &robot)

Detailed Description

Interface for robots based on ROS.

Definition at line 62 of file vpROSRobot.h.

Constructor & Destructor Documentation

vpROSRobot::vpROSRobot ( const vpROSRobot & robot ) [private]

vpROSRobot::vpROSRobot ( )

constructor

Definition at line 58 of file vpROSRobot.cpp.

vpROSRobot::~vpROSRobot ( ) [virtual]

destructor

Definition at line 78 of file vpROSRobot.cpp.

Member Function Documentation

void vpROSRobot::get_eJe ( vpMatrix & eJe ) [inline, private]

Reimplemented in vpROSRobotPioneer.

Definition at line 84 of file vpROSRobot.h.

void vpROSRobot::get_fJe ( vpMatrix & ) [inline, private]

Get the robot Jacobian expressed in the robot reference (or world) frame.

Warning:: Not implemented.

Reimplemented in vpROSRobotPioneer.

Definition at line 91 of file vpROSRobot.h.

void vpROSRobot::getArticularDisplacement ( vpColVector & ) [inline, private]

Get a displacement expressed in the joint space between two successive position control.

Warning:: Not implemented.

Definition at line 97 of file vpROSRobot.h.

void vpROSRobot::getCameraDisplacement ( vpColVector & ) [private]

void vpROSRobot::getDisplacement	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	dis
	)

Get the robot displacement (frame has to be specified).

Parameters:

frame	: Control frame. For the moment, only vpRobot::REFERENCE_FRAME is implemented.
dis	: A 6 dimension vector that corresponds to the displacement of the robot since the last call to the function.

Exceptions:

vpRobotException::wrongStateError : If the specified control frame is not supported.

Definition at line 239 of file vpROSRobot.cpp.

void vpROSRobot::getDisplacement	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	dis,
		struct timespec &	timestamp
	)

Get the robot displacement (frame has to be specified).

Parameters:

frame	: Control frame. For the moment, only vpRobot::REFERENCE_FRAME is implemented.
dis	: A 6 dimension vector that corresponds to the displacement of the robot since the last call to the function.
timestamp	: timestamp of the last update of the displacement

Exceptions:

vpRobotException::wrongStateError : If the specified control frame is not supported.

Definition at line 211 of file vpROSRobot.cpp.

void vpROSRobot::getPosition	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	pose
	)

Get the robot position (frame has to be specified).

Parameters:

frame	: Control frame. For the moment, only vpRobot::REFERENCE_FRAME is implemented.
pose	: A 6 dimension vector that corresponds to the position of the robot.

Exceptions:

vpRobotException::wrongStateError : If the specified control frame is not supported.

Definition at line 175 of file vpROSRobot.cpp.

void vpROSRobot::getVelocity	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	velocity
	)		`[private]`

Reimplemented in vpROSRobotPioneer.

vpColVector vpROSRobot::getVelocity ( const vpRobot::vpControlFrameType frame ) [private]

Reimplemented in vpROSRobotPioneer.

void vpROSRobot::init ( )

basic initialization

Basic initialisation

Reimplemented in vpROSRobotPioneer.

Definition at line 112 of file vpROSRobot.cpp.

void vpROSRobot::init	(	int	argc,
		char **	argv
	)

Basic initialisation

Parameters:

argc,argv : parameters of the main function

Reimplemented in vpROSRobotPioneer.

Definition at line 93 of file vpROSRobot.cpp.

void vpROSRobot::odomCallback ( const nav_msgs::Odometry::ConstPtr & msg ) [private]

Definition at line 245 of file vpROSRobot.cpp.

void vpROSRobot::setCmdVelTopic ( std::string topic_name )

Set the ROS topic name for cmdvel

Parameters:

topic_name name of the topic.

Examples:: tutorial-ros-pioneer-visual-servo.cpp, tutorial-ros-pioneer.cpp, and tutorial_ros_node_pioneer_visual_servo.cpp.

Definition at line 285 of file vpROSRobot.cpp.

void vpROSRobot::setMasterURI ( std::string master_uri )

Set the URI for ROS Master

Parameters:

master_uri URI of the master ("http://127.0.0.1:11311")

Definition at line 311 of file vpROSRobot.cpp.

void vpROSRobot::setNodespace ( std::string nodespace )

Set the nodespace

Parameters:

nodespace Namespace of the connected camera (nodespace is appended to the all topic names)

Definition at line 323 of file vpROSRobot.cpp.

void vpROSRobot::setOdomTopic ( std::string topic_name )

Set the ROS topic name for odom

Parameters:

topic_name name of the topic.

Definition at line 298 of file vpROSRobot.cpp.

void vpROSRobot::setPosition	(	const vpRobot::vpControlFrameType	,
		const vpColVector &
	)		`[inline, private]`

Set a displacement (frame has to be specified) in position control.

Warning:: Not implemented.

Reimplemented in vpROSRobotPioneer.

Definition at line 107 of file vpROSRobot.h.

void vpROSRobot::setVelocity	(	const vpRobot::vpControlFrameType	frame,
		const vpColVector &	vel
	)

Set the velocity (frame has to be specified) that will be applied to the robot.

Parameters:

frame	: Control frame. For the moment, only vpRobot::REFERENCE_FRAME is implemented.
vel	: A 6 dimension vector that corresponds to the velocities to apply to the robot.

Exceptions:

vpRobotException::wrongStateError : If the specified control frame is not supported.

Reimplemented in vpROSRobotPioneer.

Definition at line 144 of file vpROSRobot.cpp.

void vpROSRobot::stopMotion ( )

Definition at line 265 of file vpROSRobot.cpp.

Member Data Documentation

std::string vpROSRobot::_master_uri [protected]

Definition at line 78 of file vpROSRobot.h.

std::string vpROSRobot::_nodespace [protected]

Definition at line 81 of file vpROSRobot.h.

uint32_t vpROSRobot::_nsec [protected]

Definition at line 76 of file vpROSRobot.h.

uint32_t vpROSRobot::_sec [protected]

Definition at line 76 of file vpROSRobot.h.

std::string vpROSRobot::_topic_cmd [protected]

Definition at line 79 of file vpROSRobot.h.

std::string vpROSRobot::_topic_odom [protected]

Definition at line 80 of file vpROSRobot.h.

ros::Publisher vpROSRobot::cmdvel [protected]

Definition at line 66 of file vpROSRobot.h.

vpColVector vpROSRobot::displacement [protected]

Definition at line 75 of file vpROSRobot.h.

bool vpROSRobot::isInitialized [protected]

Definition at line 70 of file vpROSRobot.h.

ros::NodeHandle* vpROSRobot::n [protected]

Definition at line 65 of file vpROSRobot.h.

ros::Subscriber vpROSRobot::odom [protected]

Definition at line 67 of file vpROSRobot.h.

volatile bool vpROSRobot::odom_mutex [protected]

Definition at line 77 of file vpROSRobot.h.

vpTranslationVector vpROSRobot::p [protected]

Definition at line 73 of file vpROSRobot.h.

vpColVector vpROSRobot::pose_prev [protected]

Definition at line 74 of file vpROSRobot.h.

vpQuaternionVector vpROSRobot::q [protected]

Definition at line 72 of file vpROSRobot.h.

ros::AsyncSpinner* vpROSRobot::spinner [protected]

Definition at line 68 of file vpROSRobot.h.

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

Public Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation