A joint state listener that first reads the robot model from (static) robot_description parameter, and then watches the dynamic model at robot_state_publisher/robot_description. When the dynamic model changes, this listener reloads the 3D representation of the model. More...

#include <joint_state_listener.h>

Inheritance diagram for robot_state_publisher::DynamicJointStateListener:

[legend]

Public Member Functions
	DynamicJointStateListener (const Tree &tree, const MimicMap &m, const urdf::Model &model)
	Construct the listener using the given KDL tree, URDF model and mimic map. More...

bool	reloadRobotModel (const std::string &urdf="")
	Reload the robot model. More...

Public Member Functions inherited from robot_state_publisher::JointStateListener
	JointStateListener (const KDL::Tree &tree, const MimicMap &m, const urdf::Model &model=urdf::Model())

	~JointStateListener ()

Static Public Member Functions
static bool	loadModel (KDL::Tree &tree, MimicMap &mimic_map, urdf::Model &model, const std::string &urdf="")
	Parses the given URDF string (or `robot_description` param if the string is empty) to a KDL tree, URDF model and a mimic map. More...

Protected Member Functions
void	callbackJointState (const JointStateConstPtr &state) override
	Called when new joint state arrives. More...

void	configChangedCb (DynamicRobotStateConfig &config, uint32_t level)
	The callback that is called whenever the dynamic robot model changes. More...

Protected Member Functions inherited from robot_state_publisher::JointStateListener
virtual void	callbackFixedJoint (const ros::TimerEvent &e)

Protected Attributes
DynamicRobotStatePublisher	dynamicPublisher
	The RobotStatePublisher with update functionality. More...

dynamic_reconfigure::Server< DynamicRobotStateConfig >	dynparamServer
	The dynamic parameter server. More...

std::mutex	updateOngoing
	Mutex for updates. More...

Protected Attributes inherited from robot_state_publisher::JointStateListener
bool	ignore_timestamp_

Subscriber	joint_state_sub_

ros::Time	last_callback_time_

std::map< std::string, ros::Time >	last_publish_time_

MimicMap	mimic_

Duration	publish_interval_

robot_state_publisher::RobotStatePublisher	state_publisher_

std::string	tf_prefix_

ros::Timer	timer_

bool	use_tf_static_

Detailed Description

A joint state listener that first reads the robot model from (static) robot_description parameter, and then watches the dynamic model at robot_state_publisher/robot_description. When the dynamic model changes, this listener reloads the 3D representation of the model.

Definition at line 20 of file joint_state_listener.h.

Constructor & Destructor Documentation

robot_state_publisher::DynamicJointStateListener::DynamicJointStateListener	(	const Tree &	tree,
		const MimicMap &	m,
		const urdf::Model &	model
	)

Construct the listener using the given KDL tree, URDF model and mimic map.

Parameters

[in]	tree	Parsed KDL tree.
[in]	m	Mimic map.
[in]	model	URDF model.

Definition at line 47 of file joint_state_listener.cpp.

Member Function Documentation

void robot_state_publisher::DynamicJointStateListener::callbackJointState ( const JointStateConstPtr & state )

overrideprotectedvirtual

Called when new joint state arrives.

Parameters

[in] state The joint state to process.

Reimplemented from robot_state_publisher::JointStateListener.

Definition at line 88 of file joint_state_listener.cpp.

void robot_state_publisher::DynamicJointStateListener::configChangedCb	(	DynamicRobotStateConfig &	config,
		uint32_t	level
	)

protected

The callback that is called whenever the dynamic robot model changes.

Parameters

config	The updated config.
level	Nonzero on startup, zero otherwise.

Definition at line 104 of file joint_state_listener.cpp.

bool robot_state_publisher::DynamicJointStateListener::loadModel	(	KDL::Tree &	tree,
		MimicMap &	mimic_map,
		urdf::Model &	model,
		const std::string &	urdf = `""`
	)

static

Parses the given URDF string (or robot_description param if the string is empty) to a KDL tree, URDF model and a mimic map.

Parameters

[out]	tree	The parsed KDL tree.
[out]	mimic_map	The parsed mimic map.
[out]	The	parsed URDF model.
[in]	urdf	If empty, parse the model from (static) param `robot_description`, otherwise parse it from the given string.

Returns: True if the model was correctly read and parsed.

Definition at line 5 of file joint_state_listener.cpp.

bool robot_state_publisher::DynamicJointStateListener::reloadRobotModel ( const std::string & urdf = "" )

Reload the robot model.

Parameters

[in] urdf If empty, load it from (static) param robot_description, otherwise load it from the given string.

Returns: True if the model was correctly read and parsed.

make sure that state_publisher is not currently publishing

allow publishFixedTransforms to end

fixed transforms are published again

Definition at line 61 of file joint_state_listener.cpp.

Member Data Documentation

DynamicRobotStatePublisher robot_state_publisher::DynamicJointStateListener::dynamicPublisher

protected

The RobotStatePublisher with update functionality.

Definition at line 66 of file joint_state_listener.h.

dynamic_reconfigure::Server<DynamicRobotStateConfig> robot_state_publisher::DynamicJointStateListener::dynparamServer

protected

The dynamic parameter server.

Definition at line 69 of file joint_state_listener.h.

std::mutex robot_state_publisher::DynamicJointStateListener::updateOngoing

protected

Mutex for updates.

Definition at line 63 of file joint_state_listener.h.

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation