Message handler that streams joint trajectories to the robot controller. More...

#include <joint_trajectory_streamer.h>

Inheritance diagram for industrial_robot_client::joint_trajectory_streamer::JointTrajectoryStreamer:

Public Member Functions
virtual bool	init (SmplMsgConnection *connection)
	Initialize robot connection using specified method. More...

virtual bool	init (SmplMsgConnection *connection, const std::vector< std::string > &joint_names, const std::map< std::string, double > &velocity_limits=std::map< std::string, double >())
	Class initializer. More...

virtual bool	init (SmplMsgConnection *connection, const std::vector< std::string > &joint_names, const std::map< std::string, double > &velocity_limits=std::map< std::string, double >())
	Class initializer. More...

virtual bool	init (std::string default_ip="", int default_port=StandardSocketPorts::MOTION)
	Initialize robot connection using default method. More...

virtual void	jointTrajectoryCB (const trajectory_msgs::JointTrajectoryConstPtr &msg)
	Callback function registered to ROS topic-subscribe. Transform message into SimpleMessage objects and send commands to robot. More...

	JointTrajectoryStreamer (int min_buffer_size=1)
	Default constructor. More...

bool	send_to_robot (const std::vector< JointTrajPtMessage > &messages)
	Send trajectory to robot, using this node's robot-connection. Specific method must be implemented in a derived class (e.g. streaming, download, etc.) More...

void	streamingThread ()

virtual bool	trajectory_to_msgs (const trajectory_msgs::JointTrajectoryConstPtr &traj, std::vector< JointTrajPtMessage > *msgs)
	Convert ROS trajectory message into stream of JointTrajPtMessages for sending to robot. Also includes various joint transforms that can be overridden for robot-specific behavior. More...

	~JointTrajectoryStreamer ()

Public Member Functions inherited from industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface
virtual bool	init (SmplMsgConnection *connection)
	Initialize robot connection using specified method. More...

virtual bool	init (std::string default_ip="", int default_port=StandardSocketPorts::MOTION)
	Initialize robot connection using default method. More...

	JointTrajectoryInterface ()
	Default constructor. More...

virtual void	run ()
	Begin processing messages and publishing topics. More...

virtual	~JointTrajectoryInterface ()

Protected Member Functions
void	trajectoryStop ()
	Send a stop command to the robot. More...

Protected Member Functions inherited from industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface
virtual bool	calc_duration (const trajectory_msgs::JointTrajectoryPoint &pt, double *rbt_duration)
	Compute the expected move duration for communication to the robot. If unneeded by the robot server, set to 0 (or any value). More...

virtual bool	calc_speed (const trajectory_msgs::JointTrajectoryPoint &pt, double rbt_velocity, double rbt_duration)
	Reduce the ROS velocity commands (per-joint velocities) to a single scalar for communication to the robot. For flexibility, the robot command message contains both "velocity" and "duration" fields. The specific robot implementation can utilize either or both of these fields, as appropriate. More...

virtual bool	calc_velocity (const trajectory_msgs::JointTrajectoryPoint &pt, double *rbt_velocity)
	Reduce the ROS velocity commands (per-joint velocities) to a single scalar for communication to the robot. If unneeded by the robot server, set to 0 (or any value). More...

virtual bool	is_valid (const trajectory_msgs::JointTrajectory &traj)
	Validate that trajectory command meets minimum requirements. More...

virtual void	jointStateCB (const sensor_msgs::JointStateConstPtr &msg)

virtual bool	select (const std::vector< std::string > &ros_joint_names, const trajectory_msgs::JointTrajectoryPoint &ros_pt, const std::vector< std::string > &rbt_joint_names, trajectory_msgs::JointTrajectoryPoint *rbt_pt)
	Select specific joints for sending to the robot. More...

virtual bool	stopMotionCB (industrial_msgs::StopMotion::Request &req, industrial_msgs::StopMotion::Response &res)
	Callback function registered to ROS stopMotion service Sends stop-motion command to robot. More...

virtual bool	transform (const trajectory_msgs::JointTrajectoryPoint &pt_in, trajectory_msgs::JointTrajectoryPoint *pt_out)
	Transform joint positions before publishing. Can be overridden to implement, e.g. robot-specific joint coupling. More...

Protected Attributes
int	current_point_

std::vector< JointTrajPtMessage >	current_traj_

int	min_buffer_size_

boost::mutex	mutex_

TransferState	state_

ros::Time	streaming_start_

boost::thread *	streaming_thread_

Protected Attributes inherited from industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface
std::vector< std::string >	all_joint_names_

SmplMsgConnection *	connection_

sensor_msgs::JointState	cur_joint_pos_

double	default_duration_

double	default_joint_pos_

TcpClient	default_tcp_connection_

double	default_vel_ratio_

std::map< std::string, double >	joint_vel_limits_

ros::NodeHandle	node_

ros::ServiceServer	srv_joint_trajectory_

ros::ServiceServer	srv_stop_motion_

ros::Subscriber	sub_cur_pos_

ros::Subscriber	sub_joint_trajectory_

Detailed Description

Message handler that streams joint trajectories to the robot controller.

THIS CLASS IS NOT THREAD-SAFE

Definition at line 75 of file joint_trajectory_streamer.h.

Constructor & Destructor Documentation

◆ JointTrajectoryStreamer()

industrial_robot_client::joint_trajectory_streamer::JointTrajectoryStreamer::JointTrajectoryStreamer ( int min_buffer_size = 1 )

inline

Default constructor.

Parameters

min_buffer_size minimum number of points as required by robot implementation

Definition at line 88 of file joint_trajectory_streamer.h.

◆ ~JointTrajectoryStreamer()

industrial_robot_client::joint_trajectory_streamer::JointTrajectoryStreamer::~JointTrajectoryStreamer ( )

Definition at line 61 of file joint_trajectory_streamer.cpp.

Member Function Documentation

◆ init() [1/4]

bool industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::init

Initialize robot connection using specified method.

Parameters

connection new robot-connection instance (ALREADY INITIALIZED).

Returns: true on success, false otherwise

Definition at line 80 of file joint_trajectory_interface.cpp.

◆ init() [2/4]

bool industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::init

Class initializer.

Parameters

connection	simple message connection that will be used to send commands to robot (ALREADY INITIALIZED)
joint_names	list of expected joint-names. Count and order should match data sent to robot connection. Use blank-name to insert a placeholder joint position (typ. 0.0). Joints in the incoming JointTrajectory stream that are NOT listed here will be ignored.
velocity_limits	map of maximum velocities for each joint leave empty to lookup from URDF

Returns: true on success, false otherwise (an invalid message type)

Definition at line 92 of file joint_trajectory_interface.cpp.

◆ init() [3/4]

bool industrial_robot_client::joint_trajectory_streamer::JointTrajectoryStreamer::init	(	SmplMsgConnection *	connection,
		const std::vector< std::string > &	joint_names,
		const std::map< std::string, double > &	velocity_limits = `std::map<std::string, double>()`
	)

virtual

Class initializer.

Parameters

connection	simple message connection that will be used to send commands to robot (ALREADY INITIALIZED)
joint_names	list of expected joint-names. Count and order should match data sent to robot connection. Use blank-name to insert a placeholder joint position (typ. 0.0). Joints in the incoming JointTrajectory stream that are NOT listed here will be ignored.
velocity_limits	map of maximum velocities for each joint leave empty to lookup from URDF

Returns: true on success, false otherwise (an invalid message type)

Reimplemented from industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface.

Definition at line 41 of file joint_trajectory_streamer.cpp.

◆ init() [4/4]

bool industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::init

Initialize robot connection using default method.

Parameters

default_ip	default IP address to use for robot connection [OPTIONAL] this value will be used if ROS param "robot_ip_address" cannot be read
default_port	default port to use for robot connection [OPTIONAL] this value will be used if ROS param "~port" cannot be read

Returns: true on success, false otherwise

Definition at line 51 of file joint_trajectory_interface.cpp.

◆ jointTrajectoryCB()

void industrial_robot_client::joint_trajectory_streamer::JointTrajectoryStreamer::jointTrajectoryCB ( const trajectory_msgs::JointTrajectoryConstPtr & msg )

virtual

Callback function registered to ROS topic-subscribe. Transform message into SimpleMessage objects and send commands to robot.

Parameters

msg	JointTrajectory message from ROS trajectory-planner

Reimplemented from industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface.

Definition at line 66 of file joint_trajectory_streamer.cpp.

◆ send_to_robot()

bool industrial_robot_client::joint_trajectory_streamer::JointTrajectoryStreamer::send_to_robot ( const std::vector< JointTrajPtMessage > & messages )

virtual

Send trajectory to robot, using this node's robot-connection. Specific method must be implemented in a derived class (e.g. streaming, download, etc.)

Parameters

messages List of SimpleMessage JointTrajPtMessages to send to robot.

Returns: true on success, false otherwise

Implements industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface.

Definition at line 110 of file joint_trajectory_streamer.cpp.

◆ streamingThread()

void industrial_robot_client::joint_trajectory_streamer::JointTrajectoryStreamer::streamingThread ( )

Definition at line 144 of file joint_trajectory_streamer.cpp.

◆ trajectory_to_msgs()

bool industrial_robot_client::joint_trajectory_streamer::JointTrajectoryStreamer::trajectory_to_msgs	(	const trajectory_msgs::JointTrajectoryConstPtr &	traj,
		std::vector< JointTrajPtMessage > *	msgs
	)

virtual

Convert ROS trajectory message into stream of JointTrajPtMessages for sending to robot. Also includes various joint transforms that can be overridden for robot-specific behavior.

Parameters