csv_to_controller.h
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34 
35 /* Author: Dave Coleman
36  Desc: Records a ros_control ControllerState data to CSV for Matlab/etc analysis
37 */
38 
39 #ifndef GENERIC_ROS_CONTROL__CSV_TO_CONTROLLER_H
40 #define GENERIC_ROS_CONTROL__CSV_TO_CONTROLLER_H
41 
42 // ROS
43 #include <ros/ros.h>
44 
45 // ros_control
46 #include <control_msgs/FollowJointTrajectoryAction.h>
47 #include <control_msgs/JointTrajectoryControllerState.h>
48 
49 // actionlib
52 
54 {
55 static const double RECORD_RATE_HZ = 100.0; // times per second to record
56 
58 {
59 public:
63  CSVToController(const std::string& joint_trajectory_action,
64  const std::string& controller_state_topic);
65 
67  void stateCB(const control_msgs::JointTrajectoryControllerState::ConstPtr& state);
68 
69  void printPoint(trajectory_msgs::JointTrajectoryPoint &point);
70 
71  // Start the data collection
72  void loadAndRunCSV(const std::string& file_name);
73 
74 private:
75  // A shared node handle
77 
78  // Listener to state of controller
80 
81  // Action
83 
84  // Where to save the CSV
85  std::string file_name_;
87 
88  // Cache of last recieved state
89  control_msgs::JointTrajectoryControllerState current_state_;
90 
91 }; // end class
92 
93 } // end namespace
94 
95 #endif
void stateCB(const control_msgs::JointTrajectoryControllerState::ConstPtr &state)
Callback from ROS message.
control_msgs::JointTrajectoryControllerState current_state_
CSVToController(const std::string &joint_trajectory_action, const std::string &controller_state_topic)
Constructor.
static const double RECORD_RATE_HZ
void printPoint(trajectory_msgs::JointTrajectoryPoint &point)
actionlib::SimpleActionClient< control_msgs::FollowJointTrajectoryAction > joint_trajectory_action_
void loadAndRunCSV(const std::string &file_name)


ros_control_boilerplate
Author(s): Dave Coleman
autogenerated on Thu Feb 25 2021 03:58:54