Controller to publish the robot state as ROS topics. More...

#include <franka_state_controller.h>

Inheritance diagram for franka_control::FrankaStateController:

Public Member Functions
	FrankaStateController ()=default
	Creates an instance of a FrankaStateController. More...

bool	init (hardware_interface::RobotHW *robot_hardware, ros::NodeHandle &root_node_handle, ros::NodeHandle &controller_node_handle) override
	Initializes the controller with interfaces and publishers. More...

void	update (const ros::Time &time, const ros::Duration &period) override
	Reads the current robot state from the franka_hw::FrankaStateInterface and publishes it. More...

Public Member Functions inherited from controller_interface::MultiInterfaceController< franka_hw::FrankaStateInterface >
virtual bool	init (hardware_interface::RobotHW *, ros::NodeHandle &)

	MultiInterfaceController (bool allow_optional_interfaces=false)

Public Member Functions inherited from controller_interface::ControllerBase
virtual void	aborting (const ros::Time &)

virtual void	aborting (const ros::Time &)

bool	abortRequest (const ros::Time &time)

bool	abortRequest (const ros::Time &time)

	ControllerBase ()=default

	ControllerBase (const ControllerBase &)=delete

	ControllerBase (ControllerBase &&)=delete

bool	isAborted () const

bool	isAborted () const

bool	isInitialized () const

bool	isInitialized () const

bool	isRunning () const

bool	isRunning () const

bool	isStopped () const

bool	isStopped () const

bool	isWaiting () const

bool	isWaiting () const

ControllerBase &	operator= (const ControllerBase &)=delete

ControllerBase &	operator= (ControllerBase &&)=delete

virtual void	starting (const ros::Time &)

virtual void	starting (const ros::Time &)

bool	startRequest (const ros::Time &time)

bool	startRequest (const ros::Time &time)

virtual void	stopping (const ros::Time &)

virtual void	stopping (const ros::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 void	waiting (const ros::Time &)

virtual void	waiting (const ros::Time &)

bool	waitRequest (const ros::Time &time)

bool	waitRequest (const ros::Time &time)

virtual	~ControllerBase ()=default

Private Member Functions
void	publishExternalWrench (const ros::Time &time)

void	publishFrankaStates (const ros::Time &time)

void	publishJointStates (const ros::Time &time)

void	publishTransforms (const ros::Time &time)

Private Attributes
std::string	arm_id_

std::unique_ptr< franka_hw::FrankaStateHandle >	franka_state_handle_ {}

franka_hw::FrankaStateInterface *	franka_state_interface_ {}

std::vector< std::string >	joint_names_

realtime_tools::RealtimePublisher< geometry_msgs::WrenchStamped >	publisher_external_wrench_

realtime_tools::RealtimePublisher< franka_msgs::FrankaState >	publisher_franka_states_

realtime_tools::RealtimePublisher< sensor_msgs::JointState >	publisher_joint_states_

realtime_tools::RealtimePublisher< sensor_msgs::JointState >	publisher_joint_states_desired_

realtime_tools::RealtimePublisher< tf2_msgs::TFMessage >	publisher_transforms_

franka::RobotState	robot_state_

uint64_t	sequence_number_ = 0

franka_hw::TriggerRate	trigger_publish_

Additional Inherited Members
Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources

Public Attributes inherited from controller_interface::ControllerBase
	ABORTED

	CONSTRUCTED

	INITIALIZED

	RUNNING

enum controller_interface::ControllerBase:: { ... }	state_

	STOPPED

	WAITING

Protected Member Functions inherited from controller_interface::MultiInterfaceController< franka_hw::FrankaStateInterface >
bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources) override

Static Protected Member Functions inherited from controller_interface::MultiInterfaceController< franka_hw::FrankaStateInterface >
static void	clearClaims (hardware_interface::RobotHW *robot_hw)

static void	extractInterfaceResources (hardware_interface::RobotHW robot_hw_in, hardware_interface::RobotHW robot_hw_out)

static bool	hasRequiredInterfaces (hardware_interface::RobotHW *robot_hw)

static void	populateClaimedResources (hardware_interface::RobotHW *robot_hw, ClaimedResources &claimed_resources)

Protected Attributes inherited from controller_interface::MultiInterfaceController< franka_hw::FrankaStateInterface >
bool	allow_optional_interfaces_

hardware_interface::RobotHW	robot_hw_ctrl_

Detailed Description

Controller to publish the robot state as ROS topics.

Definition at line 23 of file franka_state_controller.h.

Constructor & Destructor Documentation

◆ FrankaStateController()

franka_control::FrankaStateController::FrankaStateController ( )

default

Creates an instance of a FrankaStateController.

Member Function Documentation

◆ init()

bool franka_control::FrankaStateController::init	(	hardware_interface::RobotHW *	robot_hardware,
		ros::NodeHandle &	root_node_handle,
		ros::NodeHandle &	controller_node_handle
	)

overridevirtual

Initializes the controller with interfaces and publishers.

Parameters

[in]	robot_hardware	RobotHW instance to get a franka_hw::FrankaStateInterface from.
[in]	root_node_handle	Node handle in the controller_manager namespace.
[in]	controller_node_handle	Node handle in the controller namespace.

Reimplemented from controller_interface::MultiInterfaceController< franka_hw::FrankaStateInterface >.

Definition at line 155 of file franka_state_controller.cpp.

◆ publishExternalWrench()

void franka_control::FrankaStateController::publishExternalWrench ( const ros::Time & time )

private

Definition at line 487 of file franka_state_controller.cpp.

◆ publishFrankaStates()

void franka_control::FrankaStateController::publishFrankaStates ( const ros::Time & time )

private

Definition at line 262 of file franka_state_controller.cpp.

◆ publishJointStates()

void franka_control::FrankaStateController::publishJointStates ( const ros::Time & time )

private

Definition at line 433 of file franka_state_controller.cpp.

◆ publishTransforms()

void franka_control::FrankaStateController::publishTransforms ( const ros::Time & time )

private

Definition at line 466 of file franka_state_controller.cpp.

◆ update()

void franka_control::FrankaStateController::update	(	const ros::Time &	time,
		const ros::Duration &	period
	)

overridevirtual

Reads the current robot state from the franka_hw::FrankaStateInterface and publishes it.

Parameters

[in]	time	Current ROS time.
[in]	period	Time since the last update.

Implements controller_interface::ControllerBase.

Definition at line 251 of file franka_state_controller.cpp.

Member Data Documentation

◆ arm_id_

std::string franka_control::FrankaStateController::arm_id_

private

Definition at line 56 of file franka_state_controller.h.

◆ franka_state_handle_

std::unique_ptr<franka_hw::FrankaStateHandle> franka_control::FrankaStateController::franka_state_handle_ {}

private

Definition at line 59 of file franka_state_controller.h.

◆ franka_state_interface_

franka_hw::FrankaStateInterface* franka_control::FrankaStateController::franka_state_interface_ {}

private

Definition at line 58 of file franka_state_controller.h.

◆ joint_names_

std::vector<std::string> franka_control::FrankaStateController::joint_names_

private

Definition at line 69 of file franka_state_controller.h.

◆ publisher_external_wrench_

realtime_tools::RealtimePublisher<geometry_msgs::WrenchStamped> franka_control::FrankaStateController::publisher_external_wrench_

private

Definition at line 65 of file franka_state_controller.h.

◆ publisher_franka_states_

realtime_tools::RealtimePublisher<franka_msgs::FrankaState> franka_control::FrankaStateController::publisher_franka_states_

private

Definition at line 62 of file franka_state_controller.h.

◆ publisher_joint_states_

realtime_tools::RealtimePublisher<sensor_msgs::JointState> franka_control::FrankaStateController::publisher_joint_states_

private

Definition at line 63 of file franka_state_controller.h.

◆ publisher_joint_states_desired_

realtime_tools::RealtimePublisher<sensor_msgs::JointState> franka_control::FrankaStateController::publisher_joint_states_desired_

private

Definition at line 64 of file franka_state_controller.h.

◆ publisher_transforms_

realtime_tools::RealtimePublisher<tf2_msgs::TFMessage> franka_control::FrankaStateController::publisher_transforms_

private

Definition at line 61 of file franka_state_controller.h.

◆ robot_state_

franka::RobotState franka_control::FrankaStateController::robot_state_

private

Definition at line 67 of file franka_state_controller.h.

◆ sequence_number_

uint64_t franka_control::FrankaStateController::sequence_number_ = 0

private

Definition at line 68 of file franka_state_controller.h.

◆ trigger_publish_

franka_hw::TriggerRate franka_control::FrankaStateController::trigger_publish_

private

Definition at line 66 of file franka_state_controller.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FrankaStateController()

Member Function Documentation

◆ init()

◆ publishExternalWrench()

◆ publishFrankaStates()

◆ publishJointStates()

◆ publishTransforms()

◆ update()

Member Data Documentation

◆ arm_id_

◆ franka_state_handle_

◆ franka_state_interface_

◆ joint_names_

◆ publisher_external_wrench_

◆ publisher_franka_states_

◆ publisher_joint_states_

◆ publisher_joint_states_desired_

◆ publisher_transforms_

◆ robot_state_

◆ sequence_number_

◆ trigger_publish_