Public Member Functions | Private Member Functions | Private Attributes | List of all members
generic_control_toolbox::ControllerActionNode Class Reference

#include <controller_action_node.hpp>

Public Member Functions

 ControllerActionNode ()
 
void runController (ControllerBase &controller)
 
 ~ControllerActionNode ()
 

Private Member Functions

void jointStatesCb (const sensor_msgs::JointState::ConstPtr &msg)
 

Private Attributes

bool got_first_
 
ros::Subscriber joint_state_sub_
 
double loop_rate_
 
ros::NodeHandle nh_
 
sensor_msgs::JointState state_
 
ros::Publisher state_pub_
 

Detailed Description

Maintains a generic action node which integrates the controller template in a stand-alone ROS node, for systems where using ROS control is not an option.

Definition at line 15 of file controller_action_node.hpp.

Constructor & Destructor Documentation

generic_control_toolbox::ControllerActionNode::ControllerActionNode ( )

Definition at line 5 of file controller_action_node.cpp.

generic_control_toolbox::ControllerActionNode::~ControllerActionNode ( )

Definition at line 22 of file controller_action_node.cpp.

Member Function Documentation

void generic_control_toolbox::ControllerActionNode::jointStatesCb ( const sensor_msgs::JointState::ConstPtr &  msg)
private

Definition at line 64 of file controller_action_node.cpp.

void generic_control_toolbox::ControllerActionNode::runController ( ControllerBase controller)

This blocking method will run the controller by providing it with the currently available joint states and time intervals between calls. It will publish the controller output to the robot command topic.

Parameters
controllerAny controller which complies with ControllerBase.

Definition at line 24 of file controller_action_node.cpp.

Member Data Documentation

bool generic_control_toolbox::ControllerActionNode::got_first_
private

Definition at line 38 of file controller_action_node.hpp.

ros::Subscriber generic_control_toolbox::ControllerActionNode::joint_state_sub_
private

Definition at line 36 of file controller_action_node.hpp.

double generic_control_toolbox::ControllerActionNode::loop_rate_
private

Definition at line 39 of file controller_action_node.hpp.

ros::NodeHandle generic_control_toolbox::ControllerActionNode::nh_
private

Definition at line 34 of file controller_action_node.hpp.

sensor_msgs::JointState generic_control_toolbox::ControllerActionNode::state_
private

Definition at line 35 of file controller_action_node.hpp.

ros::Publisher generic_control_toolbox::ControllerActionNode::state_pub_
private

Definition at line 37 of file controller_action_node.hpp.


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


generic_control_toolbox
Author(s): diogo
autogenerated on Thu Jun 6 2019 19:54:44