Controller that publishes the state of all joints in a robot. More...

#include <joint_state_controller.h>

Inheritance diagram for joint_state_controller::JointStateController:

Public Member Functions
virtual bool	init (hardware_interface::JointStateInterface *hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
	JointStateController ()
virtual void	starting (const ros::Time &time)
virtual void	stopping (const ros::Time &)
virtual void	update (const ros::Time &time, const ros::Duration &)
Private Member Functions
void	addExtraJoints (const ros::NodeHandle &nh, sensor_msgs::JointState &msg)
Private Attributes
std::vector < hardware_interface::JointStateHandle >	joint_state_
ros::Time	last_publish_time_
unsigned int	num_hw_joints_
	Number of joints present in the JointStateInterface, excluding extra joints.
double	publish_rate_
boost::shared_ptr < realtime_tools::RealtimePublisher < sensor_msgs::JointState > >	realtime_pub_

Detailed Description

Controller that publishes the state of all joints in a robot.

This controller publishes the state of all resources registered to a hardware_interface::JointStateInterface to a topic of type sensor_msgs/JointState. The following is a basic configuration of the controller.

 joint_state_controller:
   type: joint_state_controller/JointStateController
   publish_rate: 50

It's possible to optionally specify a set of extra joints not contained in a hardware_interface::JointStateInterface with custom (and static) default values. The following is an example configuration specifying extra joints.

 joint_state_controller:
   type: joint_state_controller/JointStateController
   publish_rate: 50
   extra_joints:
     - name:     'extra1'
       position: 10.0
       velocity: 20.0
       effort:   30.0

     - name:     'extra2'
       position: -10.0

     - name:     'extra3'

An unspecified position, velocity or acceleration defaults to zero.

Definition at line 79 of file joint_state_controller.h.

Constructor & Destructor Documentation

joint_state_controller::JointStateController::JointStateController ( ) [inline]

Definition at line 82 of file joint_state_controller.h.

Member Function Documentation

void joint_state_controller::JointStateController::addExtraJoints	(	const ros::NodeHandle &	nh,
		sensor_msgs::JointState &	msg
	)		`[private]`

Definition at line 105 of file joint_state_controller.cpp.

bool joint_state_controller::JointStateController::init	(	hardware_interface::JointStateInterface *	hw,
		ros::NodeHandle &	root_nh,
		ros::NodeHandle &	controller_nh
	)		`[virtual]`