Message handler that downloads joint trajectories to a robot controller that supports the trajectory downloading interface. More...
#include <joint_trajectory_downloader.h>
Inheritance diagram for industrial_robot_client::joint_trajectory_downloader::JointTrajectoryDownloader:
Public Member Functions | |
| bool | send_to_robot (const std::vector< JointTrajPtMessage > &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.) More... | |
 Public Member Functions inherited from industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface | |
| virtual bool | init (std::string default_ip="", int default_port=StandardSocketPorts::MOTION) |
| Initialize robot connection using default method. More... | |
| virtual bool | init (SmplMsgConnection *connection) |
| Initialize robot connection using specified method. More... | |
| 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. More... | |
| JointTrajectoryInterface () | |
| Default constructor. More... | |
| virtual void | run () |
| Begin processing messages and publishing topics. More... | |
| virtual | ~JointTrajectoryInterface () |
Additional Inherited Members | |
| Protected Member Functions inherited from industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface | |
| virtual bool | calc_duration (const trajectory_msgs::JointTrajectoryPoint &pt, double *rbt_duration) |
| Compute the expected move duration for communication to the robot. If unneeded by the robot server, set to 0 (or any value). More... | |
| virtual bool | calc_speed (const trajectory_msgs::JointTrajectoryPoint &pt, double *rbt_velocity, double *rbt_duration) |
| Reduce the ROS velocity commands (per-joint velocities) to a single scalar for communication to the robot. For flexibility, the robot command message contains both "velocity" and "duration" fields. The specific robot implementation can utilize either or both of these fields, as appropriate. More... | |
| virtual bool | calc_velocity (const trajectory_msgs::JointTrajectoryPoint &pt, double *rbt_velocity) |
| Reduce the ROS velocity commands (per-joint velocities) to a single scalar for communication to the robot. If unneeded by the robot server, set to 0 (or any value). More... | |
| virtual bool | is_valid (const trajectory_msgs::JointTrajectory &traj) |
| Validate that trajectory command meets minimum requirements. More... | |
| virtual void | jointStateCB (const sensor_msgs::JointStateConstPtr &msg) |
| virtual void | jointTrajectoryCB (const trajectory_msgs::JointTrajectoryConstPtr &msg) |
| Callback function registered to ROS topic-subscribe. Transform message into SimpleMessage objects and send commands to robot. More... | |
| virtual bool | select (const std::vector< std::string > &ros_joint_names, const trajectory_msgs::JointTrajectoryPoint &ros_pt, const std::vector< std::string > &rbt_joint_names, trajectory_msgs::JointTrajectoryPoint *rbt_pt) |
| Select specific joints for sending to the robot. More... | |
| virtual bool | stopMotionCB (industrial_msgs::StopMotion::Request &req, industrial_msgs::StopMotion::Response &res) |
| Callback function registered to ROS stopMotion service Sends stop-motion command to robot. More... | |
| virtual bool | trajectory_to_msgs (const trajectory_msgs::JointTrajectoryConstPtr &traj, std::vector< JointTrajPtMessage > *msgs) |
| Convert ROS trajectory message into stream of JointTrajPtMessages for sending to robot. Also includes various joint transforms that can be overridden for robot-specific behavior. More... | |
| virtual void | trajectoryStop () |
| Send a stop command to the robot. More... | |
| virtual bool | transform (const trajectory_msgs::JointTrajectoryPoint &pt_in, trajectory_msgs::JointTrajectoryPoint *pt_out) |
| Transform joint positions before publishing. Can be overridden to implement, e.g. robot-specific joint coupling. More... | |
| Protected Attributes inherited from industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface | |
| std::vector< std::string > | all_joint_names_ |
| SmplMsgConnection * | connection_ |
| sensor_msgs::JointState | cur_joint_pos_ |
| double | default_duration_ |
| double | default_joint_pos_ |
| TcpClient | default_tcp_connection_ |
| double | default_vel_ratio_ |
| std::map< std::string, double > | joint_vel_limits_ |
| ros::NodeHandle | node_ |
| ros::ServiceServer | srv_joint_trajectory_ |
| ros::ServiceServer | srv_stop_motion_ |
| ros::Subscriber | sub_cur_pos_ |
| ros::Subscriber | sub_joint_trajectory_ |
Detailed Description
Message handler that downloads joint trajectories to a robot controller that supports the trajectory downloading interface.
Definition at line 49 of file joint_trajectory_downloader.h.
Member Function Documentation
|
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 SimpleMessage JointTrajPtMessages to send to robot.
- Returns
- true on success, false otherwise
Implements industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface.
Definition at line 42 of file joint_trajectory_downloader.cpp.
The documentation for this class was generated from the following files: