#include <joint_trajectory_action.h>

Public Member Functions
	JointTrajectoryAction ()
	Constructor.
void	run ()
	Begin processing messages and publishing topics.
	~JointTrajectoryAction ()
	Destructor.
Private Types
typedef actionlib::ActionServer < control_msgs::FollowJointTrajectoryAction >	JointTractoryActionServer
Private Member Functions
void	abortGoal ()
	Aborts the current action goal and sends a stop command (empty message) to the robot driver.
void	cancelCB (JointTractoryActionServer::GoalHandle gh)
	Action server cancel callback method.
void	controllerStateCB (const control_msgs::FollowJointTrajectoryFeedbackConstPtr &msg)
	Controller state callback (executed when feedback message received)
void	goalCB (JointTractoryActionServer::GoalHandle gh)
	Action server goal callback method.
void	robotStatusCB (const industrial_msgs::RobotStatusConstPtr &msg)
	Controller status callback (executed when robot status message received)
void	watchdog (const ros::TimerEvent &e)
	Watch dog callback, used to detect robot driver failures.
bool	withinGoalConstraints (const control_msgs::FollowJointTrajectoryFeedbackConstPtr &msg, const trajectory_msgs::JointTrajectory &traj)
	Controller status callback (executed when robot status message received)
Private Attributes
JointTractoryActionServer	action_server_
	Internal action server.
JointTractoryActionServer::GoalHandle	active_goal_
	Cache of the current active goal.
bool	controller_alive_
	Controller was alive during the last watchdog interval.
trajectory_msgs::JointTrajectory	current_traj_
	Cache of the current active trajectory.
double	goal_threshold_
	The goal joint threshold used for determining if a robot is near it final destination. A single value is used for all joints.
bool	has_active_goal_
	Indicates action has an active goal.
bool	has_moved_once_
	Indicates that the robot has been in a moving state at least once since starting the current active trajectory.
std::vector< std::string >	joint_names_
	The joint names associated with the robot the action is interfacing with. The joint names must be the same as expected by the robot driver.
industrial_msgs::RobotStatusConstPtr	last_robot_status_
	Cache of the last subscribed status message.
control_msgs::FollowJointTrajectoryFeedbackConstPtr	last_trajectory_state_
	Cache of the last subscribed feedback message.
ros::NodeHandle	node_
	Internal ROS node handle.
ros::Publisher	pub_trajectory_command_
	Publishes desired trajectory (typically to the robot driver)
ros::Subscriber	sub_robot_status_
	Subscribes to the robot status (typically published by the robot driver).
ros::Subscriber	sub_trajectory_state_
	Subscribes to trajectory feedback (typically published by the robot driver).
ros::Time	time_to_check_
	Time at which to start checking for completion of current goal, if one is active.
ros::Timer	watchdog_timer_
	Watchdog time used to fail the action request if the robot driver is not responding.
Static Private Attributes
static const double	DEFAULT_GOAL_THRESHOLD_ = 0.01
	The default goal joint threshold see(goal_threshold). Unit are joint specific (i.e. radians or meters).
static const double	WATCHDOG_PERIOD_ = 1.0
	The watchdog period (seconds)

Detailed Description

Definition at line 48 of file joint_trajectory_action.h.

Member Typedef Documentation

typedef actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction> industrial_robot_client::joint_trajectory_action::JointTrajectoryAction::JointTractoryActionServer [private]

Definition at line 71 of file joint_trajectory_action.h.

Constructor & Destructor Documentation

industrial_robot_client::joint_trajectory_action::JointTrajectoryAction::JointTrajectoryAction ( )

Constructor.

Definition at line 45 of file joint_trajectory_action.cpp.

industrial_robot_client::joint_trajectory_action::JointTrajectoryAction::~JointTrajectoryAction ( )

Destructor.

Definition at line 70 of file joint_trajectory_action.cpp.

Member Function Documentation

void industrial_robot_client::joint_trajectory_action::JointTrajectoryAction::abortGoal ( ) [private]

Aborts the current action goal and sends a stop command (empty message) to the robot driver.

Definition at line 275 of file joint_trajectory_action.cpp.

void industrial_robot_client::joint_trajectory_action::JointTrajectoryAction::cancelCB ( JointTractoryActionServer::GoalHandle gh ) [private]

Action server cancel callback method.

Parameters:

gh	goal handle

Definition at line 183 of file joint_trajectory_action.cpp.

void industrial_robot_client::joint_trajectory_action::JointTrajectoryAction::controllerStateCB ( const control_msgs::FollowJointTrajectoryFeedbackConstPtr & msg ) [private]

Controller state callback (executed when feedback message received)

Parameters:

msg	joint trajectory feedback message

Definition at line 203 of file joint_trajectory_action.cpp.

void industrial_robot_client::joint_trajectory_action::JointTrajectoryAction::goalCB ( JointTractoryActionServer::GoalHandle gh ) [private]

Action server goal callback method.

Parameters:

gh	goal handle

Definition at line 110 of file joint_trajectory_action.cpp.

void industrial_robot_client::joint_trajectory_action::JointTrajectoryAction::robotStatusCB ( const industrial_msgs::RobotStatusConstPtr & msg ) [private]

Controller status callback (executed when robot status message received)

Parameters:

msg	robot status message

Definition at line 74 of file joint_trajectory_action.cpp.

void industrial_robot_client::joint_trajectory_action::JointTrajectoryAction::run ( ) [inline]

Begin processing messages and publishing topics.

Definition at line 67 of file joint_trajectory_action.h.

void industrial_robot_client::joint_trajectory_action::JointTrajectoryAction::watchdog ( const ros::TimerEvent & e ) [private]

Watch dog callback, used to detect robot driver failures.

Parameters:

e	time event information

Definition at line 80 of file joint_trajectory_action.cpp.

bool industrial_robot_client::joint_trajectory_action::JointTrajectoryAction::withinGoalConstraints	(	const control_msgs::FollowJointTrajectoryFeedbackConstPtr &	msg,
		const trajectory_msgs::JointTrajectory &	traj
	)		`[private]`