Generic template that reads state-data from a robot controller and publishes matching messages to various ROS topics. More...
#include <fsrobo_r_robot_state_interface.h>
Public Member Functions | |
void | add_handler (MessageHandler *handler, bool allow_replace=true) |
Add a new handler. More... | |
FSRoboRRobotStateInterface () | |
Default constructor. More... | |
SmplMsgConnection * | get_connection () |
get current robot-connection instance. More... | |
std::vector< std::string > | get_joint_names () |
MessageManager * | get_manager () |
get active message-manager object More... | |
bool | init (std::string default_ip="", int default_port=StandardSocketPorts::STATE) |
Initialize robot connection using default method. More... | |
bool | init (SmplMsgConnection *connection) |
Initialize robot connection using specified method. More... | |
bool | init (SmplMsgConnection *connection, std::vector< std::string > &joint_names) |
Initialize robot connection using specified method and joint-names. More... | |
void | run () |
Begin processing messages and publishing topics. More... | |
Generic template that reads state-data from a robot controller and publishes matching messages to various ROS topics.
Users should replace the default class members to implement robot-specific behavior.
Definition at line 65 of file fsrobo_r_robot_state_interface.h.
fsrobo_r_driver::robot_state_interface::FSRoboRRobotStateInterface::FSRoboRRobotStateInterface | ( | ) |
Default constructor.
Definition at line 41 of file fsrobo_r_robot_state_interface.cpp.
|
inline |
Add a new handler.
new | message-handler for a specific msg-type (ALREADY INITIALIZED). |
replace | existing handler (of same msg-type), if exists |
Definition at line 145 of file fsrobo_r_robot_state_interface.h.
|
inline |
get current robot-connection instance.
Definition at line 118 of file fsrobo_r_robot_state_interface.h.
|
inline |
Definition at line 133 of file fsrobo_r_robot_state_interface.h.
|
inline |
get active message-manager object
Definition at line 128 of file fsrobo_r_robot_state_interface.h.
bool fsrobo_r_driver::robot_state_interface::FSRoboRRobotStateInterface::init | ( | std::string | default_ip = "" , |
int | default_port = StandardSocketPorts::STATE |
||
) |
Initialize robot connection using default method.
default_ip | default IP address to use for robot connection [OPTIONAL]
|
default_port | default port to use for robot connection [OPTIONAL]
|
Definition at line 50 of file fsrobo_r_robot_state_interface.cpp.
bool fsrobo_r_driver::robot_state_interface::FSRoboRRobotStateInterface::init | ( | SmplMsgConnection * | connection | ) |
Initialize robot connection using specified method.
connection | new robot-connection instance (ALREADY INITIALIZED). |
Definition at line 79 of file fsrobo_r_robot_state_interface.cpp.
bool fsrobo_r_driver::robot_state_interface::FSRoboRRobotStateInterface::init | ( | SmplMsgConnection * | connection, |
std::vector< std::string > & | joint_names | ||
) |
Initialize robot connection using specified method and joint-names.
connection | new robot-connection instance (ALREADY INITIALIZED). |
joint_names | list of joint-names for ROS topic
|
Definition at line 91 of file fsrobo_r_robot_state_interface.cpp.
void fsrobo_r_driver::robot_state_interface::FSRoboRRobotStateInterface::run | ( | ) |
Begin processing messages and publishing topics.
Definition at line 121 of file fsrobo_r_robot_state_interface.cpp.
|
protected |
Definition at line 157 of file fsrobo_r_robot_state_interface.h.
|
protected |
Definition at line 154 of file fsrobo_r_robot_state_interface.h.
|
protected |
Definition at line 152 of file fsrobo_r_robot_state_interface.h.
|
protected |
Definition at line 153 of file fsrobo_r_robot_state_interface.h.
|
protected |
Definition at line 151 of file fsrobo_r_robot_state_interface.h.
|
protected |
Definition at line 155 of file fsrobo_r_robot_state_interface.h.
|
protected |
Definition at line 159 of file fsrobo_r_robot_state_interface.h.
|
protected |
Definition at line 158 of file fsrobo_r_robot_state_interface.h.