Message handler that relays joint trajectories to the robot controller. More...

#include <joint_trajectory_interface.h>

Inheritance diagram for industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface:

Public Member Functions
virtual bool	init (std::string default_ip="", int default_port=StandardSocketPorts::MOTION)
	Initialize robot connection using default method. More...

virtual bool	init (SmplMsgConnection *connection)
	Initialize robot connection using specified method. More...

virtual bool	init (SmplMsgConnection *connection, const std::vector< std::string > &joint_names, const std::map< std::string, double > &velocity_limits=std::map< std::string, double >())
	Class initializer. More...

	JointTrajectoryInterface ()
	Default constructor. More...

virtual void	run ()
	Begin processing messages and publishing topics. More...

virtual	~JointTrajectoryInterface ()

Protected Member Functions
virtual bool	calc_duration (const trajectory_msgs::JointTrajectoryPoint &pt, double *rbt_duration)
	Compute the expected move duration for communication to the robot. If unneeded by the robot server, set to 0 (or any value). More...

virtual bool	calc_speed (const trajectory_msgs::JointTrajectoryPoint &pt, double rbt_velocity, double rbt_duration)
	Reduce the ROS velocity commands (per-joint velocities) to a single scalar for communication to the robot. For flexibility, the robot command message contains both "velocity" and "duration" fields. The specific robot implementation can utilize either or both of these fields, as appropriate. More...

virtual bool	calc_velocity (const trajectory_msgs::JointTrajectoryPoint &pt, double *rbt_velocity)
	Reduce the ROS velocity commands (per-joint velocities) to a single scalar for communication to the robot. If unneeded by the robot server, set to 0 (or any value). More...

virtual bool	is_valid (const trajectory_msgs::JointTrajectory &traj)
	Validate that trajectory command meets minimum requirements. More...

virtual void	jointStateCB (const sensor_msgs::JointStateConstPtr &msg)

virtual void	jointTrajectoryCB (const trajectory_msgs::JointTrajectoryConstPtr &msg)
	Callback function registered to ROS topic-subscribe. Transform message into SimpleMessage objects and send commands to robot. More...

virtual bool	select (const std::vector< std::string > &ros_joint_names, const trajectory_msgs::JointTrajectoryPoint &ros_pt, const std::vector< std::string > &rbt_joint_names, trajectory_msgs::JointTrajectoryPoint *rbt_pt)
	Select specific joints for sending to the robot. More...

virtual bool	send_to_robot (const std::vector< JointTrajPtMessage > &messages)=0
	Send trajectory to robot, using this node's robot-connection. Specific method must be implemented in a derived class (e.g. streaming, download, etc.) More...

virtual bool	stopMotionCB (industrial_msgs::StopMotion::Request &req, industrial_msgs::StopMotion::Response &res)
	Callback function registered to ROS stopMotion service Sends stop-motion command to robot. More...

virtual bool	trajectory_to_msgs (const trajectory_msgs::JointTrajectoryConstPtr &traj, std::vector< JointTrajPtMessage > *msgs)
	Convert ROS trajectory message into stream of JointTrajPtMessages for sending to robot. Also includes various joint transforms that can be overridden for robot-specific behavior. More...

virtual void	trajectoryStop ()
	Send a stop command to the robot. More...

virtual bool	transform (const trajectory_msgs::JointTrajectoryPoint &pt_in, trajectory_msgs::JointTrajectoryPoint *pt_out)
	Transform joint positions before publishing. Can be overridden to implement, e.g. robot-specific joint coupling. More...

Protected Attributes
std::vector< std::string >	all_joint_names_

SmplMsgConnection *	connection_

sensor_msgs::JointState	cur_joint_pos_

double	default_duration_

double	default_joint_pos_

TcpClient	default_tcp_connection_

double	default_vel_ratio_

std::map< std::string, double >	joint_vel_limits_

ros::NodeHandle	node_

ros::ServiceServer	srv_joint_trajectory_

ros::ServiceServer	srv_stop_motion_

ros::Subscriber	sub_cur_pos_

ros::Subscriber	sub_joint_trajectory_

Private Member Functions
bool	jointTrajectoryCB (industrial_msgs::CmdJointTrajectory::Request &req, industrial_msgs::CmdJointTrajectory::Response &res)
	Callback function registered to ROS CmdJointTrajectory service Duplicates message-topic functionality, but in service form. More...

Static Private Member Functions
static JointTrajPtMessage	create_message (int seq, std::vector< double > joint_pos, double velocity, double duration)

Detailed Description

Message handler that relays joint trajectories to the robot controller.

THIS CLASS IS NOT THREAD-SAFE

Definition at line 64 of file joint_trajectory_interface.h.

Constructor & Destructor Documentation

industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::JointTrajectoryInterface ( )

inline

Default constructor.

Definition at line 72 of file joint_trajectory_interface.h.

industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::~JointTrajectoryInterface ( )

virtual

Definition at line 112 of file joint_trajectory_interface.cpp.

Member Function Documentation

bool industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::calc_duration	(	const trajectory_msgs::JointTrajectoryPoint &	pt,
		double *	rbt_duration
	)

protectedvirtual

Compute the expected move duration for communication to the robot. If unneeded by the robot server, set to 0 (or any value).

Parameters

[in]	pt	trajectory point data, in order/count expected by robot connection
[out]	rbt_duration	computed move duration for robot message (if needed by robot)

Returns: true on success, false otherwise

Definition at line 282 of file joint_trajectory_interface.cpp.

bool industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::calc_speed	(	const trajectory_msgs::JointTrajectoryPoint &	pt,
		double *	rbt_velocity,
		double *	rbt_duration
	)

protectedvirtual

Reduce the ROS velocity commands (per-joint velocities) to a single scalar for communication to the robot. For flexibility, the robot command message contains both "velocity" and "duration" fields. The specific robot implementation can utilize either or both of these fields, as appropriate.

Parameters

[in]	pt	trajectory point data, in order/count expected by robot connection
[out]	rbt_velocity	computed velocity scalar for robot message (if needed by robot)
[out]	rbt_duration	computed move duration for robot message (if needed by robot)

Returns: true on success, false otherwise

Definition at line 224 of file joint_trajectory_interface.cpp.

bool industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::calc_velocity	(	const trajectory_msgs::JointTrajectoryPoint &	pt,
		double *	rbt_velocity
	)

protectedvirtual

Reduce the ROS velocity commands (per-joint velocities) to a single scalar for communication to the robot. If unneeded by the robot server, set to 0 (or any value).

Parameters

[in]	pt	trajectory point data, in order/count expected by robot connection
[out]	rbt_velocity	computed velocity scalar for robot message (if needed by robot)

Returns: true on success, false otherwise

Definition at line 235 of file joint_trajectory_interface.cpp.

JointTrajPtMessage industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::create_message	(	int	seq,
		std::vector< double >	joint_pos,
		double	velocity,
		double	duration
	)

staticprivate

Definition at line 298 of file joint_trajectory_interface.cpp.

bool industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::init	(	std::string	default_ip = `""`,
		int	default_port = `StandardSocketPorts::MOTION`
	)

virtual

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

Returns: true on success, false otherwise

Definition at line 51 of file joint_trajectory_interface.cpp.

bool industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::init ( SmplMsgConnection * connection )

virtual

Initialize robot connection using specified method.

Parameters

connection new robot-connection instance (ALREADY INITIALIZED).

Returns: true on success, false otherwise

Definition at line 80 of file joint_trajectory_interface.cpp.

bool industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::init	(	SmplMsgConnection *	connection,
		const std::vector< std::string > &	joint_names,
		const std::map< std::string, double > &	velocity_limits = `std::map<std::string, double>()`
	)

virtual

Class initializer.

Parameters

connection	simple message connection that will be used to send commands to robot (ALREADY INITIALIZED)
joint_names	list of expected joint-names. Count and order should match data sent to robot connection. Use blank-name to insert a placeholder joint position (typ. 0.0). Joints in the incoming JointTrajectory stream that are NOT listed here will be ignored.
velocity_limits	map of maximum velocities for each joint leave empty to lookup from URDF

Returns: true on success, false otherwise (an invalid message type)

Reimplemented in industrial_robot_client::joint_trajectory_streamer::JointTrajectoryStreamer.

Definition at line 92 of file joint_trajectory_interface.cpp.

bool industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::is_valid ( const trajectory_msgs::JointTrajectory & traj )

protectedvirtual

Validate that trajectory command meets minimum requirements.

Parameters

traj	incoming trajectory

Returns: true if trajectory is valid, false otherwise

Definition at line 338 of file joint_trajectory_interface.cpp.

void industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::jointStateCB ( const sensor_msgs::JointStateConstPtr & msg )

protectedvirtual

Definition at line 367 of file joint_trajectory_interface.cpp.

void industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::jointTrajectoryCB ( const trajectory_msgs::JointTrajectoryConstPtr & msg )

protectedvirtual

Callback function registered to ROS topic-subscribe. Transform message into SimpleMessage objects and send commands to robot.

Parameters

msg	JointTrajectory message from ROS trajectory-planner

Reimplemented in industrial_robot_client::joint_trajectory_streamer::JointTrajectoryStreamer.

Definition at line 131 of file joint_trajectory_interface.cpp.

bool industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::jointTrajectoryCB	(	industrial_msgs::CmdJointTrajectory::Request &	req,
		industrial_msgs::CmdJointTrajectory::Response &	res
	)

private

Callback function registered to ROS CmdJointTrajectory service Duplicates message-topic functionality, but in service form.

Parameters

req	CmdJointTrajectory request from service call
res	CmdJointTrajectory response to service call

Returns: true always. Look at res.code.val to see if call actually succeeded

Definition at line 118 of file joint_trajectory_interface.cpp.

virtual void industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::run ( )

inlinevirtual

Begin processing messages and publishing topics.

Definition at line 116 of file joint_trajectory_interface.h.

bool industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::select	(	const std::vector< std::string > &	ros_joint_names,
		const trajectory_msgs::JointTrajectoryPoint &	ros_pt,
		const std::vector< std::string > &	rbt_joint_names,
		trajectory_msgs::JointTrajectoryPoint *	rbt_pt
	)

protectedvirtual

Select specific joints for sending to the robot.

Parameters

[in]	ros_joint_names	joint names from ROS command
[in]	ros_pt	target pos/vel from ROS command
[in]	rbt_joint_names	joint names, in order/count expected by robot connection
[out]	rbt_pt	target pos/vel, matching rbt_joint_names

Returns: true on success, false otherwise

Definition at line 184 of file joint_trajectory_interface.cpp.

virtual bool industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::send_to_robot ( const std::vector< JointTrajPtMessage > & messages )

protectedpure virtual

Send trajectory to robot, using this node's robot-connection. Specific method must be implemented in a derived class (e.g. streaming, download, etc.)

Parameters

messages List of SimpleMessage JointTrajPtMessages to send to robot.

Returns: true on success, false otherwise

Implemented in industrial_robot_client::joint_trajectory_streamer::JointTrajectoryStreamer, and industrial_robot_client::joint_trajectory_downloader::JointTrajectoryDownloader.

bool industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::stopMotionCB	(	industrial_msgs::StopMotion::Request &	req,
		industrial_msgs::StopMotion::Response &	res
	)

protectedvirtual

Callback function registered to ROS stopMotion service Sends stop-motion command to robot.

Parameters

req	StopMotion request from service call
res	StopMotion response to service call

Returns: true always. Look at res.code.val to see if call actually succeeded.

Definition at line 327 of file joint_trajectory_interface.cpp.

bool industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::trajectory_to_msgs	(	const trajectory_msgs::JointTrajectoryConstPtr &	traj,
		std::vector< JointTrajPtMessage > *	msgs
	)

protectedvirtual

Convert ROS trajectory message into stream of JointTrajPtMessages for sending to robot. Also includes various joint transforms that can be overridden for robot-specific behavior.

Parameters

[in]	traj	ROS JointTrajectory message
[out]	msgs	list of JointTrajPtMessages for sending to robot

Returns: true on success, false otherwise

Reimplemented in industrial_robot_client::joint_trajectory_streamer::JointTrajectoryStreamer.

Definition at line 152 of file joint_trajectory_interface.cpp.

void industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::trajectoryStop ( )

protectedvirtual

Send a stop command to the robot.

Reimplemented in industrial_robot_client::joint_trajectory_streamer::JointTrajectoryStreamer.

Definition at line 315 of file joint_trajectory_interface.cpp.

virtual bool industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::transform	(	const trajectory_msgs::JointTrajectoryPoint &	pt_in,
		trajectory_msgs::JointTrajectoryPoint *	pt_out
	)

inlineprotectedvirtual

Transform joint positions before publishing. Can be overridden to implement, e.g. robot-specific joint coupling.

Parameters

[in]	pt_in	trajectory-point, in same order as expected for robot-connection.
[out]	pt_out	transformed trajectory-point (in same order/count as input positions)

Returns: true on success, false otherwise

Definition at line 145 of file joint_trajectory_interface.h.

Member Data Documentation

std::vector<std::string> industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::all_joint_names_

protected

Definition at line 251 of file joint_trajectory_interface.h.

SmplMsgConnection* industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::connection_

protected

Definition at line 246 of file joint_trajectory_interface.h.

sensor_msgs::JointState industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::cur_joint_pos_

protected

Definition at line 256 of file joint_trajectory_interface.h.

double industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::default_duration_

protected

Definition at line 254 of file joint_trajectory_interface.h.

double industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::default_joint_pos_

protected

Definition at line 252 of file joint_trajectory_interface.h.

TcpClient industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::default_tcp_connection_

protected

Definition at line 243 of file joint_trajectory_interface.h.

double industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::default_vel_ratio_

protected

Definition at line 253 of file joint_trajectory_interface.h.

std::map<std::string, double> industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::joint_vel_limits_

protected

Definition at line 255 of file joint_trajectory_interface.h.

ros::NodeHandle industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::node_

protected

Definition at line 245 of file joint_trajectory_interface.h.

ros::ServiceServer industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::srv_joint_trajectory_

protected

Definition at line 249 of file joint_trajectory_interface.h.

ros::ServiceServer industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::srv_stop_motion_

protected

Definition at line 250 of file joint_trajectory_interface.h.

ros::Subscriber industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::sub_cur_pos_

protected

Definition at line 247 of file joint_trajectory_interface.h.

ros::Subscriber industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::sub_joint_trajectory_

protected

Definition at line 248 of file joint_trajectory_interface.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Static Private Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation