IRI ROS Specific Algorithm Class. More...

#include <darwin_arm_simple_nav_alg_node.h>

Inheritance diagram for DarwinArmSimpleNavAlgNode:

Public Member Functions
	DarwinArmSimpleNavAlgNode (void)
	Constructor.
	~DarwinArmSimpleNavAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
Private Member Functions
void	joint_state_callback (const sensor_msgs::JointState::ConstPtr &msg)
void	move_armGetFeedbackCallback (arm_navigation_msgs::MoveArmFeedbackPtr &feedback)
void	move_armGetResultCallback (arm_navigation_msgs::MoveArmResultPtr &result)
bool	move_armHasSucceedCallback (void)
bool	move_armIsFinishedCallback (void)
void	move_armStartCallback (const arm_navigation_msgs::MoveArmGoalConstPtr &goal)
void	move_armStopCallback (void)
void	move_jointsActive ()
void	move_jointsDone (const actionlib::SimpleClientGoalState &state, const control_msgs::FollowJointTrajectoryResultConstPtr &result)
void	move_jointsFeedback (const control_msgs::FollowJointTrajectoryFeedbackConstPtr &feedback)
void	move_jointsMakeActionRequest ()
Private Attributes
std::string	arm_id
sensor_msgs::JointState	current_state
ros::ServiceClient	get_ik_client_
kinematics_msgs::GetPositionIK	get_ik_srv_
ros::ServiceClient	ik_info_client_
kinematics_msgs::GetKinematicSolverInfo	ik_info_srv_
CMutex	joint_state_mutex_
ros::Subscriber	joint_state_subscriber_
bool	joints_moving
IriActionServer < arm_navigation_msgs::MoveArmAction >	move_arm_aserver_
actionlib::SimpleActionClient < control_msgs::FollowJointTrajectoryAction >	move_joints_client_
control_msgs::FollowJointTrajectoryGoal	move_joints_goal_
bool	robot_running
tf::TransformListener	tf_listener

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 50 of file darwin_arm_simple_nav_alg_node.h.

Constructor & Destructor Documentation

DarwinArmSimpleNavAlgNode::DarwinArmSimpleNavAlgNode ( void )

Constructor.

This constructor initializes specific class attributes and all ROS communications variables to enable message exchange.

Definition at line 4 of file darwin_arm_simple_nav_alg_node.cpp.

DarwinArmSimpleNavAlgNode::~DarwinArmSimpleNavAlgNode ( void )

Destructor.

This destructor frees all necessary dynamic memory allocated within this this class.

Definition at line 44 of file darwin_arm_simple_nav_alg_node.cpp.

Member Function Documentation

void DarwinArmSimpleNavAlgNode::addNodeDiagnostics ( void ) [protected, virtual]

node add diagnostics

In this abstract function additional ROS diagnostics applied to the specific algorithms may be added.

Implements algorithm_base::IriBaseAlgorithm< DarwinArmSimpleNavAlgorithm >.

Definition at line 309 of file darwin_arm_simple_nav_alg_node.cpp.

void DarwinArmSimpleNavAlgNode::joint_state_callback ( const sensor_msgs::JointState::ConstPtr & msg ) [private]

Definition at line 59 of file darwin_arm_simple_nav_alg_node.cpp.

void DarwinArmSimpleNavAlgNode::mainNodeThread ( void ) [protected, virtual]

main node thread

This is the main thread node function. Code written here will be executed in every node loop while the algorithm is on running state. Loop frequency can be tuned by modifying loop_rate attribute.

Here data related to the process loop or to ROS topics (mainly data structs related to the MSG and SRV files) must be updated. ROS publisher objects must publish their data in this process. ROS client servers may also request data to the corresponding server topics.

Implements algorithm_base::IriBaseAlgorithm< DarwinArmSimpleNavAlgorithm >.

Definition at line 49 of file darwin_arm_simple_nav_alg_node.cpp.

void DarwinArmSimpleNavAlgNode::move_armGetFeedbackCallback ( arm_navigation_msgs::MoveArmFeedbackPtr & feedback ) [private]

Definition at line 270 of file darwin_arm_simple_nav_alg_node.cpp.

void DarwinArmSimpleNavAlgNode::move_armGetResultCallback ( arm_navigation_msgs::MoveArmResultPtr & result ) [private]

Definition at line 262 of file darwin_arm_simple_nav_alg_node.cpp.

bool DarwinArmSimpleNavAlgNode::move_armHasSucceedCallback ( void ) [private]

Definition at line 250 of file darwin_arm_simple_nav_alg_node.cpp.

bool DarwinArmSimpleNavAlgNode::move_armIsFinishedCallback ( void ) [private]

Definition at line 238 of file darwin_arm_simple_nav_alg_node.cpp.

void DarwinArmSimpleNavAlgNode::move_armStartCallback ( const arm_navigation_msgs::MoveArmGoalConstPtr & goal ) [private]

Definition at line 115 of file darwin_arm_simple_nav_alg_node.cpp.

void DarwinArmSimpleNavAlgNode::move_armStopCallback ( void ) [private]

Definition at line 228 of file darwin_arm_simple_nav_alg_node.cpp.

void DarwinArmSimpleNavAlgNode::move_jointsActive ( ) [private]

Definition at line 94 of file darwin_arm_simple_nav_alg_node.cpp.

void DarwinArmSimpleNavAlgNode::move_jointsDone	(	const actionlib::SimpleClientGoalState &	state,
		const control_msgs::FollowJointTrajectoryResultConstPtr &	result
	)		`[private]`

Definition at line 84 of file darwin_arm_simple_nav_alg_node.cpp.

void DarwinArmSimpleNavAlgNode::move_jointsFeedback ( const control_msgs::FollowJointTrajectoryFeedbackConstPtr & feedback ) [private]

Definition at line 99 of file darwin_arm_simple_nav_alg_node.cpp.

void DarwinArmSimpleNavAlgNode::move_jointsMakeActionRequest ( ) [private]

Definition at line 279 of file darwin_arm_simple_nav_alg_node.cpp.

void DarwinArmSimpleNavAlgNode::node_config_update	(	Config &	config,
		uint32_t	level
	)		`[protected, virtual]`

dynamic reconfigure server callback

This method is called whenever a new configuration is received through the dynamic reconfigure. The derivated generic algorithm class must implement it.

Parameters:

config	an object with new configuration from all algorithm parameters defined in the config file.
level	integer referring the level in which the configuration has been changed.

Implements algorithm_base::IriBaseAlgorithm< DarwinArmSimpleNavAlgorithm >.

Definition at line 298 of file darwin_arm_simple_nav_alg_node.cpp.