Wrapper class to map ROS messages to OODL method calls for the youBot platform. More...

#include <YouBotOODLWrapper.h>

Public Member Functions
void	armCommandCallback (const trajectory_msgs::JointTrajectory &youbotArmCommand)
	Callback that is executed when a commend for the arm comes in.
void	armJointTrajectoryCancelCallback (actionlib::ActionServer< control_msgs::FollowJointTrajectoryAction >::GoalHandle youbotArmGoal, unsigned int armIndex)
	Callback that is executed when an action goal of a joint trajectory is canceled.
void	armJointTrajectoryGoalCallback (actionlib::ActionServer< control_msgs::FollowJointTrajectoryAction >::GoalHandle youbotArmGoal, unsigned int armIndex)
	Callback that is executed when an action goal to perform a joint trajectory with the arm comes in.
void	armPositionsCommandCallback (const brics_actuator::JointPositionsConstPtr &youbotArmCommand, int armIndex)
	Callback that is executed when a position command for the arm comes in.
void	armVelocitiesCommandCallback (const brics_actuator::JointVelocitiesConstPtr &youbotArmCommand, int armIndex)
	Callback that is executed when a velocity command for the arm comes in.
void	baseCommandCallback (const geometry_msgs::Twist &youbotBaseCommand)
	Callback that is executed when a commend for the base comes in.
bool	calibrateArmCallback (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response, int armIndex)
void	computeOODLSensorReadings ()
	Mapps OODL values to ROS messages.
void	gripperPositionsCommandCallback (const brics_actuator::JointPositionsConstPtr &youbotGripperCommand, int armIndex)
	Callback that is executed when a position command for the gripper comes in.
void	initializeArm (std::string armName, bool enableStandardGripper=true)
	Initializes a youBot base.
void	initializeBase (std::string baseName)
	Initializes a youBot base.
void	publishArmAndBaseDiagnostics (double publish_rate_in_secs)
	Publishes status of base and arm as diagnostic and dashboard messages continuously.
void	publishOODLSensorReadings ()
	Publishes all sensor measurements. Both for base and arm.
bool	reconnectCallback (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
void	stop ()
	Stops all initialized elements. Stops arm and/or base (if initialized).
bool	switchOffArmMotorsCallback (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response, int armIndex)
bool	switchOffBaseMotorsCallback (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
bool	switchOnArmMotorsCallback (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response, int armIndex)
bool	switchOnBaseMotorsCallback (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
	YouBotOODLWrapper (ros::NodeHandle n)
	Constructor with a ROS handle.
virtual	~YouBotOODLWrapper ()
	DEfault constructor.
Public Attributes
YouBotConfiguration	youBotConfiguration
	Handle the aggregates all parts of a youBot system.
Private Member Functions
	YouBotOODLWrapper ()
Private Attributes
bool	areArmMotorsSwitchedOn
bool	areBaseMotorsSwitchedOn
actionlib::ActionServer < control_msgs::FollowJointTrajectoryAction > ::GoalHandle	armActiveJointTrajectoryGoal
	The joint trajectory goal that is currently active.
bool	armHasActiveJointTrajectoryGoal
	Tell if a goal is currently active.
vector< sensor_msgs::JointState >	armJointStateMessages
	Vector of the published joint states of per arm with angles in [RAD].
sensor_msgs::JointState	baseJointStateMessage
	The published joint state of the base (wheels) with angles in [RAD] and velocities in [RAD/s].
ros::Time	currentTime
	ROS timestamp.
ros::Publisher	dashboardMessagePublisher
diagnostic_msgs::DiagnosticArray	diagnosticArrayMessage
ros::Publisher	diagnosticArrayPublisher
std::string	diagnosticNameArms
std::string	diagnosticNameBase
diagnostic_msgs::DiagnosticStatus	diagnosticStatusMessage
youbot::GripperSensedBarPosition	gripperBar1Position
youbot::GripperSensedBarPosition	gripperBar2Position
int	gripperCycleCounter
double	last_theta
double	last_x
	The previously-recorded positions. These are needed if ethercat is dead when a reconnect is called.
double	last_y
ros::Time	lastDiagnosticPublishTime
	diagnostic msgs
ros::NodeHandle	node
	The ROS node handle.
nav_msgs::Odometry	odometryMessage
	The published odometry message with distances in [m], angles in [RAD] and velocities in [m/s] and [RAD/s].
tf::Transform	odometryOffset
	A tf transform by which the odometry is offset. This is used to prevent the odometry from zeroing upon reconnect.
geometry_msgs::Quaternion	odometryQuaternion
	The quaternion inside the tf odometry frame with distances in [m].
geometry_msgs::TransformStamped	odometryTransform
	The published odometry tf frame with distances in [m].
youbot_common::PowerBoardState	platformStateMessage
std::string	youBotArmFrameID
std::string	youBotChildFrameID
double	youBotDriverCycleFrequencyInHz
std::string	youBotOdometryChildFrameID
std::string	youBotOdometryFrameID
Static Private Attributes
static const int	youBotArmDoF = 5
	Degrees of freedom for the youBot manipulator.
static const int	youBotNumberOfFingers = 2
	Number of finger mounted on the gripper.
static const int	youBotNumberOfWheels = 4
	Number of wheels attached to the base.

Detailed Description

Wrapper class to map ROS messages to OODL method calls for the youBot platform.

Definition at line 79 of file YouBotOODLWrapper.h.

Constructor & Destructor Documentation

youBot::YouBotOODLWrapper::YouBotOODLWrapper ( ros::NodeHandle n )

Constructor with a ROS handle.

Parameters:

n	ROS handle

Definition at line 54 of file YouBotOODLWrapper.cpp.

youBot::YouBotOODLWrapper::~YouBotOODLWrapper ( ) [virtual]

DEfault constructor.

Definition at line 77 of file YouBotOODLWrapper.cpp.

youBot::YouBotOODLWrapper::YouBotOODLWrapper ( ) [private]

Definition at line 50 of file YouBotOODLWrapper.cpp.

Member Function Documentation

void youBot::YouBotOODLWrapper::armCommandCallback ( const trajectory_msgs::JointTrajectory & youbotArmCommand )

Callback that is executed when a commend for the arm comes in.

Deprecated:

Parameters:

youbotArmCommand Message that contains the desired joint configuration.

Currently only the first configuration (JointTrajectoryPoint) per message is processed. Velocity and acceleration values are ignored.

void youBot::YouBotOODLWrapper::armJointTrajectoryCancelCallback	(	actionlib::ActionServer< control_msgs::FollowJointTrajectoryAction >::GoalHandle	youbotArmGoal,
		unsigned int	armIndex
	)

Callback that is executed when an action goal of a joint trajectory is canceled.

Parameters:

youbotArmGoal	Actionlib goal that contains the trajectory.
armIndex	Index that identifies the arm

Definition at line 672 of file YouBotOODLWrapper.cpp.

void youBot::YouBotOODLWrapper::armJointTrajectoryGoalCallback	(	actionlib::ActionServer< control_msgs::FollowJointTrajectoryAction >::GoalHandle	youbotArmGoal,
		unsigned int	armIndex
	)

Callback that is executed when an action goal to perform a joint trajectory with the arm comes in.

Parameters:

youbotArmGoal	Actionlib goal that contains the trajectory.
armIndex	Index that identifies the arm

Definition at line 554 of file YouBotOODLWrapper.cpp.

void youBot::YouBotOODLWrapper::armPositionsCommandCallback	(	const brics_actuator::JointPositionsConstPtr &	youbotArmCommand,
		int	armIndex
	)

Callback that is executed when a position command for the arm comes in.

Parameters:

youbotArmCommand	Message that contains the desired joint configuration.
armIndex	Index that identifies the arm

Definition at line 407 of file YouBotOODLWrapper.cpp.

void youBot::YouBotOODLWrapper::armVelocitiesCommandCallback	(	const brics_actuator::JointVelocitiesConstPtr &	youbotArmCommand,
		int	armIndex
	)

Callback that is executed when a velocity command for the arm comes in.

Parameters:

youbotArmCommand	Message that contains the desired joint configuration.
armIndex	Index that identifies the arm

Definition at line 480 of file YouBotOODLWrapper.cpp.

void youBot::YouBotOODLWrapper::baseCommandCallback ( const geometry_msgs::Twist & youbotBaseCommand )

Callback that is executed when a commend for the base comes in.

Parameters:

youbotBaseCommand Message that contains the desired translational and rotational velocity for the base.

Definition at line 358 of file YouBotOODLWrapper.cpp.

bool youBot::YouBotOODLWrapper::calibrateArmCallback	(	std_srvs::Empty::Request &	request,
		std_srvs::Empty::Response &	response,
		int	armIndex
	)

Definition at line 1196 of file YouBotOODLWrapper.cpp.

void youBot::YouBotOODLWrapper::computeOODLSensorReadings ( )

Mapps OODL values to ROS messages.

Definition at line 791 of file YouBotOODLWrapper.cpp.

void youBot::YouBotOODLWrapper::gripperPositionsCommandCallback	(	const brics_actuator::JointPositionsConstPtr &	youbotGripperCommand,
		int	armIndex
	)

Callback that is executed when a position command for the gripper comes in.

Parameters:

youbotGripperCommand	Message that contains the desired joint configuration.
armIndex	Index that identifies the arm

Definition at line 703 of file YouBotOODLWrapper.cpp.

void youBot::YouBotOODLWrapper::initializeArm	(	std::string	armName,
		bool	enableStandardGripper = `true`
	)

Initializes a youBot base.

Parameters:

armName	Name of the base. Used to open the configuration file e.g. youbot-manipulator.cfg
enableStandardGripper	If set to true, then the default gripper of the youBot will be initialized.

Definition at line 130 of file YouBotOODLWrapper.cpp.

void youBot::YouBotOODLWrapper::initializeBase ( std::string baseName )

Initializes a youBot base.

Parameters:

baseName Name of the base. Used to open the configuration file e.g. youbot-base.cfg

Definition at line 86 of file YouBotOODLWrapper.cpp.

void youBot::YouBotOODLWrapper::publishArmAndBaseDiagnostics ( double publish_rate_in_secs )

Publishes status of base and arm as diagnostic and dashboard messages continuously.

Definition at line 1383 of file YouBotOODLWrapper.cpp.

void youBot::YouBotOODLWrapper::publishOODLSensorReadings ( )

Publishes all sensor measurements. Both for base and arm.

Depending on what has been initialized before, either odometry and/or joint state valiues are published. computeOODLSensorReadings needs to be executed before.

Definition at line 1032 of file YouBotOODLWrapper.cpp.

bool youBot::YouBotOODLWrapper::reconnectCallback	(	std_srvs::Empty::Request &	request,
		std_srvs::Empty::Response &	response
	)

Definition at line 1224 of file YouBotOODLWrapper.cpp.

void youBot::YouBotOODLWrapper::stop ( )

Stops all initialized elements. Stops arm and/or base (if initialized).

Definition at line 315 of file YouBotOODLWrapper.cpp.

bool youBot::YouBotOODLWrapper::switchOffArmMotorsCallback	(	std_srvs::Empty::Request &	request,
		std_srvs::Empty::Response &	response,
		int	armIndex
	)

Definition at line 1122 of file YouBotOODLWrapper.cpp.

bool youBot::YouBotOODLWrapper::switchOffBaseMotorsCallback	(	std_srvs::Empty::Request &	request,
		std_srvs::Empty::Response &	response
	)

Definition at line 1053 of file YouBotOODLWrapper.cpp.

bool youBot::YouBotOODLWrapper::switchOnArmMotorsCallback	(	std_srvs::Empty::Request &	request,
		std_srvs::Empty::Response &	response,
		int	armIndex
	)

Definition at line 1159 of file YouBotOODLWrapper.cpp.

bool youBot::YouBotOODLWrapper::switchOnBaseMotorsCallback	(	std_srvs::Empty::Request &	request,
		std_srvs::Empty::Response &	response
	)

Definition at line 1087 of file YouBotOODLWrapper.cpp.

Member Data Documentation

bool youBot::YouBotOODLWrapper::areArmMotorsSwitchedOn [private]

Definition at line 285 of file YouBotOODLWrapper.h.

bool youBot::YouBotOODLWrapper::areBaseMotorsSwitchedOn [private]

Definition at line 284 of file YouBotOODLWrapper.h.

actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction>::GoalHandle youBot::YouBotOODLWrapper::armActiveJointTrajectoryGoal [private]

The joint trajectory goal that is currently active.

Definition at line 256 of file YouBotOODLWrapper.h.

bool youBot::YouBotOODLWrapper::armHasActiveJointTrajectoryGoal [private]

Tell if a goal is currently active.

Definition at line 259 of file YouBotOODLWrapper.h.

vector<sensor_msgs::JointState> youBot::YouBotOODLWrapper::armJointStateMessages [private]

Vector of the published joint states of per arm with angles in [RAD].

Definition at line 253 of file YouBotOODLWrapper.h.

sensor_msgs::JointState youBot::YouBotOODLWrapper::baseJointStateMessage [private]

The published joint state of the base (wheels) with angles in [RAD] and velocities in [RAD/s].

Definition at line 250 of file YouBotOODLWrapper.h.

ros::Time youBot::YouBotOODLWrapper::currentTime [private]

ROS timestamp.

Definition at line 232 of file YouBotOODLWrapper.h.

ros::Publisher youBot::YouBotOODLWrapper::dashboardMessagePublisher [private]

Definition at line 275 of file YouBotOODLWrapper.h.

diagnostic_msgs::DiagnosticArray youBot::YouBotOODLWrapper::diagnosticArrayMessage [private]

Definition at line 279 of file YouBotOODLWrapper.h.

ros::Publisher youBot::YouBotOODLWrapper::diagnosticArrayPublisher [private]

Definition at line 278 of file YouBotOODLWrapper.h.

std::string youBot::YouBotOODLWrapper::diagnosticNameArms [private]

Definition at line 281 of file YouBotOODLWrapper.h.

std::string youBot::YouBotOODLWrapper::diagnosticNameBase [private]

Definition at line 282 of file YouBotOODLWrapper.h.

diagnostic_msgs::DiagnosticStatus youBot::YouBotOODLWrapper::diagnosticStatusMessage [private]

Definition at line 280 of file YouBotOODLWrapper.h.

youbot::GripperSensedBarPosition youBot::YouBotOODLWrapper::gripperBar1Position [private]

Definition at line 261 of file YouBotOODLWrapper.h.

youbot::GripperSensedBarPosition youBot::YouBotOODLWrapper::gripperBar2Position [private]

Definition at line 262 of file YouBotOODLWrapper.h.

int youBot::YouBotOODLWrapper::gripperCycleCounter [private]

Definition at line 263 of file YouBotOODLWrapper.h.

double youBot::YouBotOODLWrapper::last_theta [private]

Definition at line 247 of file YouBotOODLWrapper.h.

double youBot::YouBotOODLWrapper::last_x [private]

The previously-recorded positions. These are needed if ethercat is dead when a reconnect is called.

Definition at line 247 of file YouBotOODLWrapper.h.

double youBot::YouBotOODLWrapper::last_y [private]

Definition at line 247 of file YouBotOODLWrapper.h.

ros::Time youBot::YouBotOODLWrapper::lastDiagnosticPublishTime [private]

diagnostic msgs

Definition at line 273 of file YouBotOODLWrapper.h.

ros::NodeHandle youBot::YouBotOODLWrapper::node [private]

The ROS node handle.

Definition at line 229 of file YouBotOODLWrapper.h.

nav_msgs::Odometry youBot::YouBotOODLWrapper::odometryMessage [private]

The published odometry message with distances in [m], angles in [RAD] and velocities in [m/s] and [RAD/s].

Definition at line 236 of file YouBotOODLWrapper.h.

tf::Transform youBot::YouBotOODLWrapper::odometryOffset [private]

A tf transform by which the odometry is offset. This is used to prevent the odometry from zeroing upon reconnect.

Definition at line 245 of file YouBotOODLWrapper.h.

geometry_msgs::Quaternion youBot::YouBotOODLWrapper::odometryQuaternion [private]

The quaternion inside the tf odometry frame with distances in [m].

Definition at line 242 of file YouBotOODLWrapper.h.

geometry_msgs::TransformStamped youBot::YouBotOODLWrapper::odometryTransform [private]

The published odometry tf frame with distances in [m].

Definition at line 239 of file YouBotOODLWrapper.h.

youbot_common::PowerBoardState youBot::YouBotOODLWrapper::platformStateMessage [private]

Definition at line 276 of file YouBotOODLWrapper.h.

const int youBot::YouBotOODLWrapper::youBotArmDoF = 5 [static, private]

Degrees of freedom for the youBot manipulator.

Definition at line 213 of file YouBotOODLWrapper.h.

std::string youBot::YouBotOODLWrapper::youBotArmFrameID [private]

Definition at line 225 of file YouBotOODLWrapper.h.

std::string youBot::YouBotOODLWrapper::youBotChildFrameID [private]

Definition at line 222 of file YouBotOODLWrapper.h.

YouBotConfiguration youBot::YouBotOODLWrapper::youBotConfiguration

Handle the aggregates all parts of a youBot system.

Definition at line 205 of file YouBotOODLWrapper.h.

double youBot::YouBotOODLWrapper::youBotDriverCycleFrequencyInHz [private]

Definition at line 270 of file YouBotOODLWrapper.h.

const int youBot::YouBotOODLWrapper::youBotNumberOfFingers = 2 [static, private]

Number of finger mounted on the gripper.

Definition at line 216 of file YouBotOODLWrapper.h.

const int youBot::YouBotOODLWrapper::youBotNumberOfWheels = 4 [static, private]

Number of wheels attached to the base.

Definition at line 219 of file YouBotOODLWrapper.h.

std::string youBot::YouBotOODLWrapper::youBotOdometryChildFrameID [private]

Definition at line 224 of file YouBotOODLWrapper.h.

std::string youBot::YouBotOODLWrapper::youBotOdometryFrameID [private]

Definition at line 223 of file YouBotOODLWrapper.h.

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

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation