Message handler that streams joint trajectories to the robot controller. Contains FS100-specific motion control commands. More...

#include <joint_trajectory_streamer.h>

Inheritance diagram for motoman::joint_trajectory_streamer::MotomanJointTrajectoryStreamer:

[legend]

List of all members.

Public Member Functions
virtual bool	create_message (int seq, const trajectory_msgs::JointTrajectoryPoint &pt, SimpleMessage *msg)
	Create SimpleMessage for sending to the robot.
virtual bool	create_message (int seq, const motoman_msgs::DynamicJointsGroup &pt, SimpleMessage *msg)
virtual bool	create_message_ex (int seq, const motoman_msgs::DynamicJointPoint &point, SimpleMessage *msg)
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.
virtual bool	init (SmplMsgConnection *connection, const std::map< int, RobotGroup > &robot_groups, const std::map< std::string, double > &velocity_limits=std::map< std::string, double >())
	Class initializer.
	MotomanJointTrajectoryStreamer (int robot_id=-1)
	Default constructor.
virtual bool	send_to_robot (const std::vector< SimpleMessage > &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.)
virtual void	streamingThread ()
	~MotomanJointTrajectoryStreamer ()
Protected Member Functions
bool	disableRobotCB (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
	Disable the robot. Response is true if the state was flipped or false if the state has not changed.
bool	enableRobotCB (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
	Enable the robot. Response is true if the state was flipped or false if the state has not changed.
bool	is_valid (const trajectory_msgs::JointTrajectory &traj)
bool	is_valid (const motoman_msgs::DynamicJointTrajectory &traj)
	Validate that trajectory command meets minimum requirements.
void	trajectoryStop ()
Static Protected Member Functions
static bool	VectorToJointData (const std::vector< double > &vec, industrial::joint_data::JointData &joints)
Protected Attributes
ros::ServiceServer	disabler_
	Service used to disable the robot controller. When disabled, all incoming goals are ignored.
ros::ServiceServer	enabler_
	Service used to enable the robot controller. When disabled, all incoming goals are ignored.
MotomanMotionCtrl	motion_ctrl_
std::map< int, MotomanMotionCtrl >	motion_ctrl_map_
int	robot_id_

Detailed Description

Message handler that streams joint trajectories to the robot controller. Contains FS100-specific motion control commands.

THIS CLASS IS NOT THREAD-SAFE

Definition at line 65 of file joint_trajectory_streamer.h.

Constructor & Destructor Documentation

motoman::joint_trajectory_streamer::MotomanJointTrajectoryStreamer::MotomanJointTrajectoryStreamer ( int robot_id = -1 ) [inline]

Default constructor.

Parameters:

robot_id robot group # on this controller (for multi-group systems)

Definition at line 78 of file joint_trajectory_streamer.h.

motoman::joint_trajectory_streamer::MotomanJointTrajectoryStreamer::~MotomanJointTrajectoryStreamer ( )

Definition at line 119 of file joint_trajectory_streamer.cpp.

Member Function Documentation

bool motoman::joint_trajectory_streamer::MotomanJointTrajectoryStreamer::create_message	(	int	seq,
		const trajectory_msgs::JointTrajectoryPoint &	pt,
		SimpleMessage *	msg
	)		`[virtual]`

Create SimpleMessage for sending to the robot.

Parameters:

[in]	seq	sequence # of this point in the overall trajectory
[in]	pt	trajectory point data
[out]	msg	message for sending to robot

Returns:: true on success, false otherwise

Reimplemented from industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface.

Definition at line 170 of file joint_trajectory_streamer.cpp.

bool motoman::joint_trajectory_streamer::MotomanJointTrajectoryStreamer::create_message	(	int	seq,
		const motoman_msgs::DynamicJointsGroup &	pt,
		SimpleMessage *	msg
	)		`[virtual]`

Reimplemented from industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface.

Definition at line 303 of file joint_trajectory_streamer.cpp.

bool motoman::joint_trajectory_streamer::MotomanJointTrajectoryStreamer::create_message_ex	(	int	seq,
		const motoman_msgs::DynamicJointPoint &	point,
		SimpleMessage *	msg
	)		`[virtual]`

Reimplemented from industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface.

Definition at line 221 of file joint_trajectory_streamer.cpp.

bool motoman::joint_trajectory_streamer::MotomanJointTrajectoryStreamer::disableRobotCB	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)		`[protected]`

Disable the robot. Response is true if the state was flipped or false if the state has not changed.

Definition at line 125 of file joint_trajectory_streamer.cpp.

bool motoman::joint_trajectory_streamer::MotomanJointTrajectoryStreamer::enableRobotCB	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)		`[protected]`

Enable the robot. Response is true if the state was flipped or false if the state has not changed.

Definition at line 148 of file joint_trajectory_streamer.cpp.

bool motoman::joint_trajectory_streamer::MotomanJointTrajectoryStreamer::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_streamer::JointTrajectoryStreamer.

Definition at line 97 of file joint_trajectory_streamer.cpp.

bool motoman::joint_trajectory_streamer::MotomanJointTrajectoryStreamer::init	(	SmplMsgConnection *	connection,
		const std::map< int, RobotGroup > &	robot_groups,
		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_streamer::JointTrajectoryStreamer.

Definition at line 68 of file joint_trajectory_streamer.cpp.

bool motoman::joint_trajectory_streamer::MotomanJointTrajectoryStreamer::is_valid ( const trajectory_msgs::JointTrajectory & traj ) [protected, virtual]

Reimplemented from industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface.

Definition at line 481 of file joint_trajectory_streamer.cpp.

bool motoman::joint_trajectory_streamer::MotomanJointTrajectoryStreamer::is_valid ( const motoman_msgs::DynamicJointTrajectory & traj ) [protected, virtual]

Validate that trajectory command meets minimum requirements.

Parameters:

traj	incoming trajectory

Returns:: true if trajectory is valid, false otherwise

Reimplemented from industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface.

Definition at line 509 of file joint_trajectory_streamer.cpp.

bool motoman::joint_trajectory_streamer::MotomanJointTrajectoryStreamer::send_to_robot ( const std::vector< SimpleMessage > & 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 SimpleMessages to send to robot.

Returns:: true on success, false otherwise

Reimplemented from industrial_robot_client::joint_trajectory_streamer::JointTrajectoryStreamer.

Definition at line 369 of file joint_trajectory_streamer.cpp.

void motoman::joint_trajectory_streamer::MotomanJointTrajectoryStreamer::streamingThread ( ) [virtual]

Reimplemented from industrial_robot_client::joint_trajectory_streamer::JointTrajectoryStreamer.

Definition at line 378 of file joint_trajectory_streamer.cpp.

void motoman::joint_trajectory_streamer::MotomanJointTrajectoryStreamer::trajectoryStop ( ) [protected, virtual]

Reimplemented from industrial_robot_client::joint_trajectory_streamer::JointTrajectoryStreamer.

Definition at line 474 of file joint_trajectory_streamer.cpp.

bool motoman::joint_trajectory_streamer::MotomanJointTrajectoryStreamer::VectorToJointData	(	const std::vector< double > &	vec,
		industrial::joint_data::JointData &	joints
	)		`[static, protected]`