ros_controllers_cartesian::TwistController Class Reference

A Cartesian ROS-controller for commanding target twists to a robot. More...

#include <twist_controller.h>

Inheritance diagram for ros_controllers_cartesian::TwistController:

Public Member Functions
virtual bool	init (TwistCommandInterface *hw, ros::NodeHandle &n) override
virtual void	starting (const ros::Time &time) override
	TwistController ()=default
virtual void	update (const ros::Time &, const ros::Duration &) override
virtual	~TwistController ()=default
Public Member Functions inherited from controller_interface::Controller< TwistCommandInterface >
virtual bool	init (T *, ros::NodeHandle &)
virtual bool	init (T *, ros::NodeHandle &, ros::NodeHandle &)
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
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

Public Attributes
realtime_tools::RealtimeBuffer< geometry_msgs::Twist >	command_buffer_
TwistCommandHandle	handle_
Public Attributes inherited from controller_interface::ControllerBase
ControllerState	state_

Private Member Functions
void	reconfigureCallback (const twist_controller::TwistControllerConfig &config, uint32_t level)
void	twistCallback (const geometry_msgs::TwistConstPtr &msg)

Private Attributes
double	gain_
std::shared_ptr< dynamic_reconfigure::Server< twist_controller::TwistControllerConfig > >	server_
ros::Subscriber	twist_sub_

Additional Inherited Members
Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources
enum	ControllerState {   ControllerState::CONSTRUCTED, ControllerState::INITIALIZED, ControllerState::RUNNING, ControllerState::STOPPED,   ControllerState::WAITING, ControllerState::ABORTED }
Protected Member Functions inherited from controller_interface::Controller< TwistCommandInterface >
std::string	getHardwareInterfaceType () const
bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources) override

Detailed Description

A Cartesian ROS-controller for commanding target twists to a robot.

This controller makes use of a TwistCommandInterface to set a user specified twist message as reference for robot control. The according hardware_interface::RobotHW can send these commands directly to the robot driver in its write() function.

Definition at line 48 of file twist_controller.h.

Constructor & Destructor Documentation

TwistController()

ros_controllers_cartesian::TwistController::TwistController ( )

default

~TwistController()

virtual ros_controllers_cartesian::TwistController::~TwistController ( )

virtualdefault

Member Function Documentation

init()

bool ros_controllers_cartesian::TwistController::init ( TwistCommandInterface *  hw, ros::NodeHandle &  n  )

overridevirtual

Definition at line 33 of file twist_controller.cpp.

reconfigureCallback()

void ros_controllers_cartesian::TwistController::reconfigureCallback ( const twist_controller::TwistControllerConfig &  config, uint32_t  level  )

private

Definition at line 88 of file twist_controller.cpp.

starting()

void ros_controllers_cartesian::TwistController::starting ( const ros::Time &  time )

overridevirtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 64 of file twist_controller.cpp.

twistCallback()

void ros_controllers_cartesian::TwistController::twistCallback ( const geometry_msgs::TwistConstPtr &  msg )

private

Definition at line 76 of file twist_controller.cpp.

update()

virtual void ros_controllers_cartesian::TwistController::update ( const ros::Time &  , const ros::Duration &    )

inlineoverridevirtual

Implements controller_interface::ControllerBase.

Definition at line 58 of file twist_controller.h.

Member Data Documentation

command_buffer_

realtime_tools::RealtimeBuffer<geometry_msgs::Twist> ros_controllers_cartesian::TwistController::command_buffer_

Definition at line 64 of file twist_controller.h.

gain_

double ros_controllers_cartesian::TwistController::gain_

private

Definition at line 70 of file twist_controller.h.

handle_

TwistCommandHandle ros_controllers_cartesian::TwistController::handle_

Definition at line 63 of file twist_controller.h.

server_

std::shared_ptr<dynamic_reconfigure::Server<twist_controller::TwistControllerConfig> > ros_controllers_cartesian::TwistController::server_

private

Definition at line 71 of file twist_controller.h.

twist_sub_

ros::Subscriber ros_controllers_cartesian::TwistController::twist_sub_

private

Definition at line 67 of file twist_controller.h.

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

• twist_controller.h
• twist_controller.cpp