Fancy visualization for robot poses. More...

Public Member Functions
visualization_msgs::MarkerArray	getMarkers (const std_msgs::ColorRGBA &color, const std::string &ns)
	Get the markers for the current state.
bool	initialize ()
	Get the initial robot state and setup services.
void	resetRobotState ()
	Reset the current robot state to the initial one.
	RobotPoseVisualization ()
void	updateRobotStateJoints (const sensor_msgs::JointState &js)
	Update the current robot state with the joint positions from js.
void	updateRobotStatePose (const geometry_msgs::PoseStamped &pose)
	Update the current robot state with the robot at pose.
	~RobotPoseVisualization ()
Private Member Functions
bool	currentStateInitialized () const
Private Attributes
arm_navigation_msgs::RobotState	_currentState
	the current state after updates
arm_navigation_msgs::RobotState	_initState
	the initialized state
ros::ServiceClient	_srvGetRobotMarker

Detailed Description

Fancy visualization for robot poses.

This is based on Sushi's state_transformer/GetRobotMarker service to acquire robot markers for a RobotState.

To initialize the RobotState the environment server is queried once and whatever is in there will be used to initialize the robot state.

From then on the robot state can be updated with new joint states for the arms or the actual robot pose.

Definition at line 20 of file robotPoseVisualization.h.

Constructor & Destructor Documentation

RobotPoseVisualization::RobotPoseVisualization ( )

Definition at line 5 of file robotPoseVisualization.cpp.

RobotPoseVisualization::~RobotPoseVisualization ( )

Definition at line 9 of file robotPoseVisualization.cpp.

bool RobotPoseVisualization::currentStateInitialized ( ) const [private]

visualization_msgs::MarkerArray RobotPoseVisualization::getMarkers	(	const std_msgs::ColorRGBA &	color,
		const std::string &	ns
	)

Get the markers for the current state.

bool RobotPoseVisualization::initialize ( )

Get the initial robot state and setup services.

Definition at line 13 of file robotPoseVisualization.cpp.

void RobotPoseVisualization::resetRobotState ( )

Reset the current robot state to the initial one.

Definition at line 45 of file robotPoseVisualization.cpp.

void RobotPoseVisualization::updateRobotStateJoints ( const sensor_msgs::JointState & js )

Update the current robot state with the joint positions from js.

Definition at line 50 of file robotPoseVisualization.cpp.

void RobotPoseVisualization::updateRobotStatePose ( const geometry_msgs::PoseStamped & pose )

Update the current robot state with the robot at pose.

Definition at line 68 of file robotPoseVisualization.cpp.

the current state after updates

Definition at line 46 of file robotPoseVisualization.h.

the initialized state

Definition at line 45 of file robotPoseVisualization.h.

Definition at line 48 of file robotPoseVisualization.h.

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