joint_state_controller::JointStateController Class Reference

Controller that publishes the state of all joints in a robot. More...

#include <joint_state_controller.h>

Inheritance diagram for joint_state_controller::JointStateController:

Public Member Functions
virtual bool	init (hardware_interface::JointStateInterface *hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
	JointStateController ()
virtual void	starting (const ros::Time &time)
virtual void	stopping (const ros::Time &)
virtual void	update (const ros::Time &time, const ros::Duration &)
Public Member Functions inherited from controller_interface::Controller< hardware_interface::JointStateInterface >
	Controller ()
virtual bool	init (hardware_interface::JointStateInterface *, ros::NodeHandle &)
virtual	~Controller ()
Public Member Functions inherited from controller_interface::ControllerBase
	ControllerBase ()
bool	isRunning ()
bool	isRunning ()
bool	startRequest (const ros::Time &time)
bool	startRequest (const ros::Time &time)
bool	stopRequest (const ros::Time &time)
bool	stopRequest (const ros::Time &time)
void	updateRequest (const ros::Time &time, const ros::Duration &period)
void	updateRequest (const ros::Time &time, const ros::Duration &period)
virtual	~ControllerBase ()

Private Member Functions
void	addExtraJoints (const ros::NodeHandle &nh, sensor_msgs::JointState &msg)

Private Attributes
std::vector< hardware_interface::JointStateHandle >	joint_state_
ros::Time	last_publish_time_
unsigned int	num_hw_joints_
	Number of joints present in the JointStateInterface, excluding extra joints. More...
double	publish_rate_
boost::shared_ptr< realtime_tools::RealtimePublisher< sensor_msgs::JointState > >	realtime_pub_

Additional Inherited Members
Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources
Public Attributes inherited from controller_interface::ControllerBase
	CONSTRUCTED
	INITIALIZED
	RUNNING
enum controller_interface::ControllerBase:: { ... }	state_
Protected Member Functions inherited from controller_interface::Controller< hardware_interface::JointStateInterface >
std::string	getHardwareInterfaceType () const
virtual bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources)

Detailed Description

Controller that publishes the state of all joints in a robot.

This controller publishes the state of all resources registered to a hardware_interface::JointStateInterface to a topic of type sensor_msgs/JointState. The following is a basic configuration of the controller.

joint_state_controller:
  type: joint_state_controller/JointStateController
  publish_rate: 50

It's possible to optionally specify a set of extra joints not contained in a hardware_interface::JointStateInterface with custom (and static) default values. The following is an example configuration specifying extra joints.

joint_state_controller:
  type: joint_state_controller/JointStateController
  publish_rate: 50
  extra_joints:
    - name:     'extra1'
      position: 10.0
      velocity: 20.0
      effort:   30.0

    - name:     'extra2'
      position: -10.0

    - name:     'extra3'

An unspecified position, velocity or acceleration defaults to zero.

Definition at line 79 of file joint_state_controller.h.

Constructor & Destructor Documentation

joint_state_controller::JointStateController::JointStateController ( )

inline

Definition at line 82 of file joint_state_controller.h.

Member Function Documentation

void joint_state_controller::JointStateController::addExtraJoints ( const ros::NodeHandle &  nh, sensor_msgs::JointState &  msg  )

private

Definition at line 105 of file joint_state_controller.cpp.

bool joint_state_controller::JointStateController::init ( hardware_interface::JointStateInterface *  hw, ros::NodeHandle &  root_nh, ros::NodeHandle &  controller_nh  )

virtual

Reimplemented from controller_interface::Controller< hardware_interface::JointStateInterface >.

Definition at line 40 of file joint_state_controller.cpp.

void joint_state_controller::JointStateController::starting ( const ros::Time &  time )

virtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 72 of file joint_state_controller.cpp.

void joint_state_controller::JointStateController::stopping ( const ros::Time &  )

virtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 102 of file joint_state_controller.cpp.

void joint_state_controller::JointStateController::update ( const ros::Time &  time, const ros::Duration &    )

virtual

Implements controller_interface::ControllerBase.

Definition at line 78 of file joint_state_controller.cpp.

Member Data Documentation

std::vector<hardware_interface::JointStateHandle> joint_state_controller::JointStateController::joint_state_

private

Definition at line 92 of file joint_state_controller.h.

ros::Time joint_state_controller::JointStateController::last_publish_time_

private

Definition at line 94 of file joint_state_controller.h.

unsigned int joint_state_controller::JointStateController::num_hw_joints_

private

Number of joints present in the JointStateInterface, excluding extra joints.

Definition at line 96 of file joint_state_controller.h.

double joint_state_controller::JointStateController::publish_rate_

private

Definition at line 95 of file joint_state_controller.h.

boost::shared_ptr<realtime_tools::RealtimePublisher<sensor_msgs::JointState> > joint_state_controller::JointStateController::realtime_pub_

private

Definition at line 93 of file joint_state_controller.h.

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

• joint_state_controller.h
• joint_state_controller.cpp