Generic template that reads state-data from a robot controller and publishes matching messages to various ROS topics. More...

#include <robot_state_interface.h>

Public Member Functions
void	add_handler (MessageHandler *handler, bool allow_replace=true)
	Add a new handler. 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...

	RobotStateInterface ()
	Default constructor. More...

void	run ()
	Begin processing messages and publishing topics. More...

Protected Attributes
SmplMsgConnection *	connection_

JointRelayHandler	default_joint_handler_

RobotStatusRelayHandler	default_robot_status_handler_

TcpClient	default_tcp_connection_

std::vector< std::string >	joint_names_

MessageManager	manager_

Detailed Description

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 66 of file robot_state_interface.h.

Constructor & Destructor Documentation

industrial_robot_client::robot_state_interface::RobotStateInterface::RobotStateInterface ( )

Default constructor.

Definition at line 44 of file robot_state_interface.cpp.

Member Function Documentation

void industrial_robot_client::robot_state_interface::RobotStateInterface::add_handler	(	MessageHandler *	handler,
		bool	allow_replace = `true`
	)

inline

Add a new handler.

Parameters

new	message-handler for a specific msg-type (ALREADY INITIALIZED).
replace	existing handler (of same msg-type), if exists

Definition at line 147 of file robot_state_interface.h.

SmplMsgConnection* industrial_robot_client::robot_state_interface::RobotStateInterface::get_connection ( )

inline

get current robot-connection instance.

Returns: current robot connection object

Definition at line 120 of file robot_state_interface.h.

std::vector<std::string> industrial_robot_client::robot_state_interface::RobotStateInterface::get_joint_names ( )

inline

Definition at line 135 of file robot_state_interface.h.

MessageManager* industrial_robot_client::robot_state_interface::RobotStateInterface::get_manager ( )

inline

get active message-manager object

Returns: current message-manager object

Definition at line 130 of file robot_state_interface.h.

bool industrial_robot_client::robot_state_interface::RobotStateInterface::init	(	std::string	default_ip = `""`,
		int	default_port = `StandardSocketPorts::STATE`
	)

Initialize robot connection using default method.

Parameters

default_ip	default IP address to use for robot connection [OPTIONAL] this value will be used if ROS param "robot_ip_address" cannot be read
default_port	default port to use for robot connection [OPTIONAL] this value will be used if ROS param "~port" cannot be read

Returns: true on success, false otherwise

Definition at line 51 of file robot_state_interface.cpp.

bool industrial_robot_client::robot_state_interface::RobotStateInterface::init ( SmplMsgConnection * connection )

Initialize robot connection using specified method.

Parameters

connection new robot-connection instance (ALREADY INITIALIZED).

Returns: true on success, false otherwise

Definition at line 80 of file robot_state_interface.cpp.

bool industrial_robot_client::robot_state_interface::RobotStateInterface::init	(	SmplMsgConnection *	connection,
		std::vector< std::string > &	joint_names
	)

Initialize robot connection using specified method and joint-names.

Parameters

connection	new robot-connection instance (ALREADY INITIALIZED).
joint_names	list of joint-names for ROS topic Count and order should match data sent to robot connection. Use blank-name to skip (not publish) a joint-position

Returns: true on success, false otherwise

Definition at line 92 of file robot_state_interface.cpp.

void industrial_robot_client::robot_state_interface::RobotStateInterface::run ( )

Begin processing messages and publishing topics.

Definition at line 114 of file robot_state_interface.cpp.

Member Data Documentation

SmplMsgConnection* industrial_robot_client::robot_state_interface::RobotStateInterface::connection_

protected

Definition at line 157 of file robot_state_interface.h.

JointRelayHandler industrial_robot_client::robot_state_interface::RobotStateInterface::default_joint_handler_

protected

Definition at line 154 of file robot_state_interface.h.

RobotStatusRelayHandler industrial_robot_client::robot_state_interface::RobotStateInterface::default_robot_status_handler_

protected

Definition at line 155 of file robot_state_interface.h.

TcpClient industrial_robot_client::robot_state_interface::RobotStateInterface::default_tcp_connection_

protected

Definition at line 153 of file robot_state_interface.h.

std::vector<std::string> industrial_robot_client::robot_state_interface::RobotStateInterface::joint_names_

protected

Definition at line 159 of file robot_state_interface.h.

MessageManager industrial_robot_client::robot_state_interface::RobotStateInterface::manager_

protected

Definition at line 158 of file robot_state_interface.h.

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation