Monitors the joint_states topic and tf to maintain the current state of the robot. More...

#include <current_state_monitor.h>

Public Member Functions
void	addUpdateCallback (const JointStateUpdateCallback &fn)
	Add a function that will be called whenever the joint state is updated. More...

void	clearUpdateCallbacks ()
	Clear the functions to be called when an update to the joint state is received. More...

	CurrentStateMonitor (const robot_model::RobotModelConstPtr &robot_model, const boost::shared_ptr< tf::Transformer > &tf)
	Constructor. More...

	CurrentStateMonitor (const robot_model::RobotModelConstPtr &robot_model, const boost::shared_ptr< tf::Transformer > &tf, ros::NodeHandle nh)
	Constructor. More...

void	enableCopyDynamics (bool enabled)
	Allow the joint_state arrrays velocity and effort to be copied into the robot state this is useful in some but not all applications. More...

double	getBoundsError () const
	When a joint value is received to be out of bounds, it is changed slightly to fit within bounds, if the difference is less than a specified value (labeled the "allowed bounds error"). More...

robot_state::RobotStatePtr	getCurrentState () const
	Get the current state. More...

std::pair< robot_state::RobotStatePtr, ros::Time >	getCurrentStateAndTime () const
	Get the current state and its time stamp. More...

ros::Time	getCurrentStateTime () const
	Get the time stamp for the current state. More...

std::map< std::string, double >	getCurrentStateValues () const
	Get the current state values as a map from joint names to joint state values. More...

std::string	getMonitoredTopic () const
	Get the name of the topic being monitored. Returns an empty string if the monitor is inactive. More...

const ros::Time &	getMonitorStartTime () const
	Get the time point when the monitor was started. More...

const robot_model::RobotModelConstPtr &	getRobotModel () const
	Get the RobotModel for which we are monitoring state. More...

bool	haveCompleteState () const
	Query whether we have joint state information for all DOFs in the kinematic model. More...

bool	haveCompleteState (const ros::Duration &age) const
	Query whether we have joint state information for all DOFs in the kinematic model. More...

bool	haveCompleteState (std::vector< std::string > &missing_joints) const
	Query whether we have joint state information for all DOFs in the kinematic model. More...

bool	haveCompleteState (const ros::Duration &age, std::vector< std::string > &missing_states) const
	Query whether we have joint state information for all DOFs in the kinematic model. More...

bool	isActive () const
	Check if the state monitor is started. More...

void	setBoundsError (double error)
	When a joint value is received to be out of bounds, it is changed slightly to fit within bounds, if the difference is less than a specified value (labeled the "allowed bounds error"). This value can be set using this function. More...

void	setToCurrentState (robot_state::RobotState &upd) const
	Set the state upd to the current state maintained by this class. More...

void	startStateMonitor (const std::string &joint_states_topic="joint_states")
	Start monitoring joint states on a particular topic. More...

void	stopStateMonitor ()
	Stop monitoring the "joint_states" topic. More...

bool	waitForCompleteState (double wait_time) const
	Wait for at most wait_time seconds until the complete robot state is known. More...

bool	waitForCompleteState (const std::string &group, double wait_time) const
	Wait for at most wait_time seconds until the joint values from the group group are known. Return true if values for all joints in group are known. More...

bool	waitForCurrentState (const ros::Time t=ros::Time::now(), double wait_time=1.0) const
	Wait for at most wait_time seconds (default 1s) for a robot state more recent than t. More...

MOVEIT_DEPRECATED bool	waitForCurrentState (double wait_time) const

MOVEIT_DEPRECATED bool	waitForCurrentState (const std::string &group, double wait_time) const

	~CurrentStateMonitor ()

Private Member Functions
void	jointStateCallback (const sensor_msgs::JointStateConstPtr &joint_state)

void	tfCallback ()

Private Attributes
bool	copy_dynamics_

ros::Time	current_state_time_

double	error_

ros::Subscriber	joint_state_subscriber_

std::map< const moveit::core::JointModel *, ros::Time >	joint_time_

ros::Time	monitor_start_time_

ros::NodeHandle	nh_

robot_model::RobotModelConstPtr	robot_model_

robot_state::RobotState	robot_state_

bool	state_monitor_started_

boost::condition_variable	state_update_condition_

boost::mutex	state_update_lock_

boost::shared_ptr< tf::Transformer >	tf_

std::shared_ptr< TFConnection >	tf_connection_

decltype(tf::Transformer().addTransformsChangedListener(boost::function< void(void)>())) typedef	TFConnection

std::vector< JointStateUpdateCallback >	update_callbacks_

Detailed Description

Monitors the joint_states topic and tf to maintain the current state of the robot.

Definition at line 56 of file current_state_monitor.h.

Constructor & Destructor Documentation

planning_scene_monitor::CurrentStateMonitor::CurrentStateMonitor	(	const robot_model::RobotModelConstPtr &	robot_model,
		const boost::shared_ptr< tf::Transformer > &	tf
	)

Constructor.

Parameters

robot_model	The current kinematic model to build on
tf	A pointer to the tf transformer to use

Definition at line 43 of file current_state_monitor.cpp.

planning_scene_monitor::CurrentStateMonitor::CurrentStateMonitor	(	const robot_model::RobotModelConstPtr &	robot_model,
		const boost::shared_ptr< tf::Transformer > &	tf,
		ros::NodeHandle	nh
	)

Constructor.

Parameters

robot_model	The current kinematic model to build on
tf	A pointer to the tf transformer to use
nh	A ros::NodeHandle to pass node specific options

Definition at line 49 of file current_state_monitor.cpp.

planning_scene_monitor::CurrentStateMonitor::~CurrentStateMonitor ( )

Definition at line 63 of file current_state_monitor.cpp.

Member Function Documentation

void planning_scene_monitor::CurrentStateMonitor::addUpdateCallback ( const JointStateUpdateCallback & fn )

Add a function that will be called whenever the joint state is updated.

Definition at line 125 of file current_state_monitor.cpp.

void planning_scene_monitor::CurrentStateMonitor::clearUpdateCallbacks ( )

Clear the functions to be called when an update to the joint state is received.

Definition at line 131 of file current_state_monitor.cpp.

void planning_scene_monitor::CurrentStateMonitor::enableCopyDynamics ( bool enabled )

inline

Allow the joint_state arrrays velocity and effort to be copied into the robot state this is useful in some but not all applications.

Definition at line 193 of file current_state_monitor.h.

double planning_scene_monitor::CurrentStateMonitor::getBoundsError ( ) const

inline

When a joint value is received to be out of bounds, it is changed slightly to fit within bounds, if the difference is less than a specified value (labeled the "allowed bounds error").

Returns: The stored value for the "allowed bounds error"

Definition at line 185 of file current_state_monitor.h.

robot_state::RobotStatePtr planning_scene_monitor::CurrentStateMonitor::getCurrentState ( ) const

Get the current state.

Returns: Returns the current state

Definition at line 68 of file current_state_monitor.cpp.

std::pair< robot_state::RobotStatePtr, ros::Time > planning_scene_monitor::CurrentStateMonitor::getCurrentStateAndTime ( ) const

Get the current state and its time stamp.

Returns: Returns a pair of the current state and its time stamp

Definition at line 82 of file current_state_monitor.cpp.

ros::Time planning_scene_monitor::CurrentStateMonitor::getCurrentStateTime ( ) const

Get the time stamp for the current state.

Definition at line 75 of file current_state_monitor.cpp.

std::map< std::string, double > planning_scene_monitor::CurrentStateMonitor::getCurrentStateValues ( ) const

Get the current state values as a map from joint names to joint state values.

Returns: Returns the map from joint names to joint state values

Definition at line 89 of file current_state_monitor.cpp.

std::string planning_scene_monitor::CurrentStateMonitor::getMonitoredTopic ( ) const

Get the name of the topic being monitored. Returns an empty string if the monitor is inactive.

Definition at line 176 of file current_state_monitor.cpp.

const ros::Time& planning_scene_monitor::CurrentStateMonitor::getMonitorStartTime ( ) const

inline

Get the time point when the monitor was started.

Definition at line 161 of file current_state_monitor.h.

const robot_model::RobotModelConstPtr& planning_scene_monitor::CurrentStateMonitor::getRobotModel ( ) const

inline

Get the RobotModel for which we are monitoring state.

Definition at line 93 of file current_state_monitor.h.

bool planning_scene_monitor::CurrentStateMonitor::haveCompleteState ( ) const

Query whether we have joint state information for all DOFs in the kinematic model.

Returns: False if we have no joint state information for one or more of the joints

Definition at line 184 of file current_state_monitor.cpp.

bool planning_scene_monitor::CurrentStateMonitor::haveCompleteState ( const ros::Duration & age ) const

Query whether we have joint state information for all DOFs in the kinematic model.

Returns: False if we have no joint state information for one of the joints or if our state information is more than age old

Definition at line 216 of file current_state_monitor.cpp.

bool planning_scene_monitor::CurrentStateMonitor::haveCompleteState ( std::vector< std::string > & missing_joints ) const

Query whether we have joint state information for all DOFs in the kinematic model.

Parameters

missing_joints Returns the list of joints that are missing

Returns: False if we have no joint state information for one or more of the joints

Definition at line 201 of file current_state_monitor.cpp.

bool planning_scene_monitor::CurrentStateMonitor::haveCompleteState	(	const ros::Duration &	age,
		std::vector< std::string > &	missing_states
	)		const

Query whether we have joint state information for all DOFs in the kinematic model.

Parameters

age	The max allowed age of the joint state information
missing_states	Returns the list of joints that are missing

Returns: False if we have no joint state information for one of the joints or if our state information is more than age old

Definition at line 243 of file current_state_monitor.cpp.

bool planning_scene_monitor::CurrentStateMonitor::isActive ( ) const

Check if the state monitor is started.

Definition at line 156 of file current_state_monitor.cpp.

void planning_scene_monitor::CurrentStateMonitor::jointStateCallback ( const sensor_msgs::JointStateConstPtr & joint_state )

private

Definition at line 344 of file current_state_monitor.cpp.

void planning_scene_monitor::CurrentStateMonitor::setBoundsError ( double error )

inline

When a joint value is received to be out of bounds, it is changed slightly to fit within bounds, if the difference is less than a specified value (labeled the "allowed bounds error"). This value can be set using this function.

Parameters

error The specified value for the "allowed bounds error". The default is machine precision.

Definition at line 176 of file current_state_monitor.h.

void planning_scene_monitor::CurrentStateMonitor::setToCurrentState ( robot_state::RobotState & upd ) const

Set the state upd to the current state maintained by this class.

Definition at line 100 of file current_state_monitor.cpp.

void planning_scene_monitor::CurrentStateMonitor::startStateMonitor ( const std::string & joint_states_topic = "joint_states" )

Start monitoring joint states on a particular topic.

Parameters

joint_states_topic The topic name for joint states (defaults to "joint_states")

Definition at line 136 of file current_state_monitor.cpp.

void planning_scene_monitor::CurrentStateMonitor::stopStateMonitor ( )

Stop monitoring the "joint_states" topic.

Definition at line 161 of file current_state_monitor.cpp.

void planning_scene_monitor::CurrentStateMonitor::tfCallback ( )

private

Definition at line 418 of file current_state_monitor.cpp.

bool planning_scene_monitor::CurrentStateMonitor::waitForCompleteState ( double wait_time ) const

Wait for at most wait_time seconds until the complete robot state is known.

Returns: true if the full state is known

Definition at line 295 of file current_state_monitor.cpp.

bool planning_scene_monitor::CurrentStateMonitor::waitForCompleteState	(	const std::string &	group,
		double	wait_time
	)		const

Wait for at most wait_time seconds until the joint values from the group group are known. Return true if values for all joints in group are known.

Definition at line 312 of file current_state_monitor.cpp.

bool planning_scene_monitor::CurrentStateMonitor::waitForCurrentState	(	const ros::Time	t = `ros::Time::now()`,
		double	wait_time = `1.0`
	)		const

Wait for at most wait_time seconds (default 1s) for a robot state more recent than t.

Returns: true on success, false if up-to-date robot state wasn't received within wait_time

Definition at line 273 of file current_state_monitor.cpp.

bool planning_scene_monitor::CurrentStateMonitor::waitForCurrentState ( double wait_time ) const

replaced by waitForCompleteState, will be removed in L-turtle: function waits for complete robot state

Definition at line 307 of file current_state_monitor.cpp.

bool planning_scene_monitor::CurrentStateMonitor::waitForCurrentState	(	const std::string &	group,
		double	wait_time
	)		const

replaced by waitForCompleteState, will be removed in L-turtle: function waits for complete robot state

Definition at line 339 of file current_state_monitor.cpp.

Member Data Documentation

bool planning_scene_monitor::CurrentStateMonitor::copy_dynamics_

private

Definition at line 208 of file current_state_monitor.h.

ros::Time planning_scene_monitor::CurrentStateMonitor::current_state_time_

private

Definition at line 212 of file current_state_monitor.h.

double planning_scene_monitor::CurrentStateMonitor::error_

private

Definition at line 210 of file current_state_monitor.h.

ros::Subscriber planning_scene_monitor::CurrentStateMonitor::joint_state_subscriber_

private

Definition at line 211 of file current_state_monitor.h.

std::map<const moveit::core::JointModel*, ros::Time> planning_scene_monitor::CurrentStateMonitor::joint_time_

private

Definition at line 206 of file current_state_monitor.h.

ros::Time planning_scene_monitor::CurrentStateMonitor::monitor_start_time_

private

Definition at line 209 of file current_state_monitor.h.

ros::NodeHandle planning_scene_monitor::CurrentStateMonitor::nh_

private

Definition at line 202 of file current_state_monitor.h.

robot_model::RobotModelConstPtr planning_scene_monitor::CurrentStateMonitor::robot_model_

private

Definition at line 204 of file current_state_monitor.h.

robot_state::RobotState planning_scene_monitor::CurrentStateMonitor::robot_state_

private

Definition at line 205 of file current_state_monitor.h.

bool planning_scene_monitor::CurrentStateMonitor::state_monitor_started_

private

Definition at line 207 of file current_state_monitor.h.

boost::condition_variable planning_scene_monitor::CurrentStateMonitor::state_update_condition_

mutableprivate

Definition at line 215 of file current_state_monitor.h.

boost::mutex planning_scene_monitor::CurrentStateMonitor::state_update_lock_

mutableprivate

Definition at line 214 of file current_state_monitor.h.

boost::shared_ptr<tf::Transformer> planning_scene_monitor::CurrentStateMonitor::tf_

private

Definition at line 203 of file current_state_monitor.h.

std::shared_ptr<TFConnection> planning_scene_monitor::CurrentStateMonitor::tf_connection_

private

Definition at line 218 of file current_state_monitor.h.

decltype(tf::Transformer().addTransformsChangedListener(boost::function<void(void)>())) typedef planning_scene_monitor::CurrentStateMonitor::TFConnection

private

Definition at line 60 of file current_state_monitor.h.

std::vector<JointStateUpdateCallback> planning_scene_monitor::CurrentStateMonitor::update_callbacks_

private

Definition at line 216 of file current_state_monitor.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation