29 #ifndef FSROBO_R_ROBOT_STATE_INTERFACE_H 30 #define FSROBO_R_ROBOT_STATE_INTERFACE_H 45 namespace robot_state_interface
84 bool init(std::string default_ip =
"",
int default_port = StandardSocketPorts::STATE);
166 #endif // FSROBO_R_ROBOT_STATE_INTERFACE_H
JointRelayHandler default_joint_handler_
IOStateRelayHandler default_io_state_handler_
Message handler that relays joint positions (converts simple message types to ROS message types and p...
WrenchRelayHandler default_wrench_handler_
SmplMsgConnection * get_connection()
get current robot-connection instance.
RobotStatusRelayHandler default_robot_status_handler_
void run()
Begin processing messages and publishing topics.
bool add(industrial::message_handler::MessageHandler *handler, bool allow_replace=false)
void add_handler(MessageHandler *handler, bool allow_replace=true)
Add a new handler.
FSRoboRRobotStateInterface()
Default constructor.
bool init(std::string default_ip="", int default_port=StandardSocketPorts::STATE)
Initialize robot connection using default method.
std::vector< std::string > get_joint_names()
TcpClient default_tcp_connection_
SmplMsgConnection * connection_
Message handler that relays joint positions (converts simple message types to ROS message types and p...
MessageManager * get_manager()
get active message-manager object
Generic template that reads state-data from a robot controller and publishes matching messages to var...
std::vector< std::string > joint_names_