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

ControllerActionNode()

generic_control_toolbox::ControllerActionNode::ControllerActionNode

(

)

Definition at line 5 of file controller_action_node.cpp.

~ControllerActionNode()

generic_control_toolbox::ControllerActionNode::~ControllerActionNode

(

)

Definition at line 22 of file controller_action_node.cpp.

Member Function Documentation

jointStatesCb()

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

private

Definition at line 64 of file controller_action_node.cpp.

runController()

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

controller

Any controller which complies with ControllerBase.

Definition at line 24 of file controller_action_node.cpp.

Member Data Documentation

got_first_

bool generic_control_toolbox::ControllerActionNode::got_first_

private

Definition at line 38 of file controller_action_node.hpp.

joint_state_sub_

ros::Subscriber generic_control_toolbox::ControllerActionNode::joint_state_sub_

private

Definition at line 36 of file controller_action_node.hpp.

loop_rate_

double generic_control_toolbox::ControllerActionNode::loop_rate_

private

Definition at line 39 of file controller_action_node.hpp.

nh_

ros::NodeHandle generic_control_toolbox::ControllerActionNode::nh_

private

Definition at line 34 of file controller_action_node.hpp.

state_

sensor_msgs::JointState generic_control_toolbox::ControllerActionNode::state_

private

Definition at line 35 of file controller_action_node.hpp.

state_pub_

ros::Publisher generic_control_toolbox::ControllerActionNode::state_pub_

private

Definition at line 37 of file controller_action_node.hpp.

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

• controller_action_node.hpp
• controller_action_node.cpp