This ROS interface implements a FollowJointTrajectoryAction interface for controlling (primarily) robot arms. More...

#include <follow_joint_trajectory.h>

Inheritance diagram for robot_controllers::FollowJointTrajectoryController:

Public Member Functions
	FollowJointTrajectoryController ()

virtual std::vector< std::string >	getClaimedNames ()
	Get the names of joints/controllers which this controller exclusively claims. More...

virtual std::vector< std::string >	getCommandedNames ()
	Get the names of joints/controllers which this controller commands. More...

virtual std::string	getType ()
	Get the type of this controller. More...

virtual int	init (ros::NodeHandle &nh, ControllerManager *manager)
	Initialize the controller and any required data structures. More...

virtual bool	reset ()
	Cleanly reset the controller to it's initial state. Some controllers may choose to stop themselves. This is mainly used in the case of the the robot exiting some fault condition. More...

virtual bool	start ()
	Attempt to start the controller. This should be called only by the ControllerManager instance. More...

virtual bool	stop (bool force)
	Attempt to stop the controller. This should be called only by the ControllerManager instance. More...

virtual void	update (const ros::Time &now, const ros::Duration &dt)
	This is the update loop for the controller. More...

virtual	~FollowJointTrajectoryController ()

Public Member Functions inherited from robot_controllers::Controller
	Controller ()

std::string	getName ()

virtual	~Controller ()

Public Member Functions inherited from robot_controllers::Handle
	Handle ()

virtual	~Handle ()

Private Types
typedef actionlib::SimpleActionServer< control_msgs::FollowJointTrajectoryAction >	server_t

Private Member Functions
void	executeCb (const control_msgs::FollowJointTrajectoryGoalConstPtr &goal)
	Callback for goal. More...

TrajectoryPoint	getPointFromCurrent (bool incl_vel, bool incl_acc, bool zero_vel)
	Get a trajectory point from the current position/velocity/acceleration. More...

Private Attributes
std::vector< bool >	continuous_

control_msgs::FollowJointTrajectoryFeedback	feedback_

ros::Time	goal_time

double	goal_time_tolerance_

TrajectoryPoint	goal_tolerance_

bool	has_goal_tolerance_

bool	has_path_tolerance_

bool	initialized_

std::vector< std::string >	joint_names_

std::vector< JointHandlePtr >	joints_

TrajectoryPoint	last_sample_

ControllerManager *	manager_

TrajectoryPoint	path_tolerance_

bool	preempted_

boost::shared_ptr< TrajectorySampler >	sampler_

boost::mutex	sampler_mutex_

boost::shared_ptr< server_t >	server_

bool	stop_on_path_violation_

bool	stop_with_action_

Detailed Description

This ROS interface implements a FollowJointTrajectoryAction interface for controlling (primarily) robot arms.

Definition at line 65 of file follow_joint_trajectory.h.

Member Typedef Documentation

◆ server_t

typedef actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction> robot_controllers::FollowJointTrajectoryController::server_t

private

Definition at line 67 of file follow_joint_trajectory.h.

Constructor & Destructor Documentation

◆ FollowJointTrajectoryController()

robot_controllers::FollowJointTrajectoryController::FollowJointTrajectoryController ( )

Definition at line 48 of file follow_joint_trajectory.cpp.

◆ ~FollowJointTrajectoryController()

virtual robot_controllers::FollowJointTrajectoryController::~FollowJointTrajectoryController ( )

inlinevirtual

Definition at line 71 of file follow_joint_trajectory.h.

Member Function Documentation

◆ executeCb()

void robot_controllers::FollowJointTrajectoryController::executeCb ( const control_msgs::FollowJointTrajectoryGoalConstPtr & goal )

private

Callback for goal.

Definition at line 344 of file follow_joint_trajectory.cpp.

◆ getClaimedNames()

std::vector< std::string > robot_controllers::FollowJointTrajectoryController::getClaimedNames ( )

virtual

Get the names of joints/controllers which this controller exclusively claims.

Implements robot_controllers::Controller.

Definition at line 612 of file follow_joint_trajectory.cpp.

◆ getCommandedNames()

std::vector< std::string > robot_controllers::FollowJointTrajectoryController::getCommandedNames ( )

virtual

Get the names of joints/controllers which this controller commands.

Implements robot_controllers::Controller.

Definition at line 607 of file follow_joint_trajectory.cpp.

◆ getPointFromCurrent()

TrajectoryPoint robot_controllers::FollowJointTrajectoryController::getPointFromCurrent	(	bool	incl_vel,
		bool	incl_acc,
		bool	zero_vel
	)

private

Get a trajectory point from the current position/velocity/acceleration.

Definition at line 572 of file follow_joint_trajectory.cpp.

◆ getType()

virtual std::string robot_controllers::FollowJointTrajectoryController::getType ( )

inlinevirtual

Get the type of this controller.

Reimplemented from robot_controllers::Controller.

Definition at line 114 of file follow_joint_trajectory.h.

◆ init()

int robot_controllers::FollowJointTrajectoryController::init	(	ros::NodeHandle &	nh,
		ControllerManager *	manager
	)

virtual

Initialize the controller and any required data structures.

Parameters

nh	Node handle for this controller.
manager	The controller manager instance, this is needed for the controller to get information about joints, etc.

Returns: 0 if succesfully configured, negative values are error codes.

Reimplemented from robot_controllers::Controller.

Definition at line 53 of file follow_joint_trajectory.cpp.

◆ reset()

bool robot_controllers::FollowJointTrajectoryController::reset ( )

virtual

Cleanly reset the controller to it's initial state. Some controllers may choose to stop themselves. This is mainly used in the case of the the robot exiting some fault condition.

Returns: True if successfully reset, false otherwise.

Implements robot_controllers::Controller.

Definition at line 177 of file follow_joint_trajectory.cpp.

◆ start()

bool robot_controllers::FollowJointTrajectoryController::start ( )

virtual

Attempt to start the controller. This should be called only by the ControllerManager instance.

Returns: True if successfully started, false otherwise.

Implements robot_controllers::Controller.

Definition at line 136 of file follow_joint_trajectory.cpp.

◆ stop()

bool robot_controllers::FollowJointTrajectoryController::stop ( bool force )

virtual

Attempt to stop the controller. This should be called only by the ControllerManager instance.

Parameters

force Should we force the controller to stop? Some controllers may wish to continue running until they absolutely have to stop.

Returns: True if successfully stopped, false otherwise.

Implements robot_controllers::Controller.

Definition at line 155 of file follow_joint_trajectory.cpp.

◆ update()

void robot_controllers::FollowJointTrajectoryController::update	(	const ros::Time &	now,
		const ros::Duration &	dt
	)

virtual

This is the update loop for the controller.

Parameters

time	The system time.
dt	The timestep since last call to update.

Implements robot_controllers::Controller.

Definition at line 183 of file follow_joint_trajectory.cpp.

Member Data Documentation

◆ continuous_

std::vector<bool> robot_controllers::FollowJointTrajectoryController::continuous_

private

Definition at line 137 of file follow_joint_trajectory.h.

◆ feedback_

control_msgs::FollowJointTrajectoryFeedback robot_controllers::FollowJointTrajectoryController::feedback_

private

Definition at line 165 of file follow_joint_trajectory.h.

◆ goal_time

ros::Time robot_controllers::FollowJointTrajectoryController::goal_time

private

Definition at line 166 of file follow_joint_trajectory.h.

◆ goal_time_tolerance_

double robot_controllers::FollowJointTrajectoryController::goal_time_tolerance_

private

Definition at line 163 of file follow_joint_trajectory.h.

◆ goal_tolerance_

TrajectoryPoint robot_controllers::FollowJointTrajectoryController::goal_tolerance_

private

Definition at line 162 of file follow_joint_trajectory.h.

◆ has_goal_tolerance_

bool robot_controllers::FollowJointTrajectoryController::has_goal_tolerance_

private

Definition at line 161 of file follow_joint_trajectory.h.

◆ has_path_tolerance_

bool robot_controllers::FollowJointTrajectoryController::has_path_tolerance_

private

action was preempted (has nothing to do with preempt() above).

Definition at line 158 of file follow_joint_trajectory.h.

◆ initialized_

bool robot_controllers::FollowJointTrajectoryController::initialized_

private

Definition at line 132 of file follow_joint_trajectory.h.

◆ joint_names_

std::vector<std::string> robot_controllers::FollowJointTrajectoryController::joint_names_

private

Definition at line 136 of file follow_joint_trajectory.h.

◆ joints_

std::vector<JointHandlePtr> robot_controllers::FollowJointTrajectoryController::joints_

private

Definition at line 135 of file follow_joint_trajectory.h.

◆ last_sample_

TrajectoryPoint robot_controllers::FollowJointTrajectoryController::last_sample_

private

should we stop this controller when a path tolerance has been violated?

Definition at line 155 of file follow_joint_trajectory.h.

◆ manager_

ControllerManager* robot_controllers::FollowJointTrajectoryController::manager_

private

Definition at line 133 of file follow_joint_trajectory.h.

◆ path_tolerance_

TrajectoryPoint robot_controllers::FollowJointTrajectoryController::path_tolerance_

private

Definition at line 159 of file follow_joint_trajectory.h.

◆ preempted_

bool robot_controllers::FollowJointTrajectoryController::preempted_

private

Definition at line 156 of file follow_joint_trajectory.h.

◆ sampler_

boost::shared_ptr<TrajectorySampler> robot_controllers::FollowJointTrajectoryController::sampler_

private

Definition at line 140 of file follow_joint_trajectory.h.

◆ sampler_mutex_

boost::mutex robot_controllers::FollowJointTrajectoryController::sampler_mutex_

private

Definition at line 141 of file follow_joint_trajectory.h.

◆ server_

boost::shared_ptr<server_t> robot_controllers::FollowJointTrajectoryController::server_

private

Definition at line 138 of file follow_joint_trajectory.h.

◆ stop_on_path_violation_

bool robot_controllers::FollowJointTrajectoryController::stop_on_path_violation_

private

should we stop this controller when the action has terminated (or hold position)?

Definition at line 146 of file follow_joint_trajectory.h.

◆ stop_with_action_

bool robot_controllers::FollowJointTrajectoryController::stop_with_action_

private

Definition at line 143 of file follow_joint_trajectory.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ server_t

Constructor & Destructor Documentation

◆ FollowJointTrajectoryController()

◆ ~FollowJointTrajectoryController()

Member Function Documentation

◆ executeCb()

◆ getClaimedNames()

◆ getCommandedNames()

◆ getPointFromCurrent()

◆ getType()

◆ init()

◆ reset()

◆ start()

◆ stop()

◆ update()

Member Data Documentation

◆ continuous_

◆ feedback_

◆ goal_time

◆ goal_time_tolerance_

◆ goal_tolerance_

◆ has_goal_tolerance_

◆ has_path_tolerance_

◆ initialized_

◆ joint_names_

◆ joints_

◆ last_sample_

◆ manager_

◆ path_tolerance_

◆ preempted_

◆ sampler_

◆ sampler_mutex_

◆ server_

◆ stop_on_path_violation_

◆ stop_with_action_