open_manipulator_controller::OpenManipulatorController Class Reference

#include <open_manipulator_controller.h>

Public Member Functions
bool	calcPlannedPath (const std::string planning_group, open_manipulator_msgs::JointPosition msg)
bool	calcPlannedPath (const std::string planning_group, open_manipulator_msgs::KinematicsPose msg)
void	displayPlannedPathCallback (const moveit_msgs::DisplayTrajectory::ConstPtr &msg)
void	executeTrajGoalCallback (const moveit_msgs::ExecuteTrajectoryActionGoal::ConstPtr &msg)
double	getControlPeriod (void)
bool	getJointPositionMsgCallback (open_manipulator_msgs::GetJointPosition::Request &req, open_manipulator_msgs::GetJointPosition::Response &res)
bool	getKinematicsPoseMsgCallback (open_manipulator_msgs::GetKinematicsPose::Request &req, open_manipulator_msgs::GetKinematicsPose::Response &res)
bool	goalDrawingTrajectoryCallback (open_manipulator_msgs::SetDrawingTrajectory::Request &req, open_manipulator_msgs::SetDrawingTrajectory::Response &res)
bool	goalJointSpacePathCallback (open_manipulator_msgs::SetJointPosition::Request &req, open_manipulator_msgs::SetJointPosition::Response &res)
bool	goalJointSpacePathFromPresentCallback (open_manipulator_msgs::SetJointPosition::Request &req, open_manipulator_msgs::SetJointPosition::Response &res)
bool	goalJointSpacePathToKinematicsOrientationCallback (open_manipulator_msgs::SetKinematicsPose::Request &req, open_manipulator_msgs::SetKinematicsPose::Response &res)
bool	goalJointSpacePathToKinematicsPoseCallback (open_manipulator_msgs::SetKinematicsPose::Request &req, open_manipulator_msgs::SetKinematicsPose::Response &res)
bool	goalJointSpacePathToKinematicsPositionCallback (open_manipulator_msgs::SetKinematicsPose::Request &req, open_manipulator_msgs::SetKinematicsPose::Response &res)
bool	goalTaskSpacePathCallback (open_manipulator_msgs::SetKinematicsPose::Request &req, open_manipulator_msgs::SetKinematicsPose::Response &res)
bool	goalTaskSpacePathFromPresentCallback (open_manipulator_msgs::SetKinematicsPose::Request &req, open_manipulator_msgs::SetKinematicsPose::Response &res)
bool	goalTaskSpacePathFromPresentOrientationOnlyCallback (open_manipulator_msgs::SetKinematicsPose::Request &req, open_manipulator_msgs::SetKinematicsPose::Response &res)
bool	goalTaskSpacePathFromPresentPositionOnlyCallback (open_manipulator_msgs::SetKinematicsPose::Request &req, open_manipulator_msgs::SetKinematicsPose::Response &res)
bool	goalTaskSpacePathOrientationOnlyCallback (open_manipulator_msgs::SetKinematicsPose::Request &req, open_manipulator_msgs::SetKinematicsPose::Response &res)
bool	goalTaskSpacePathPositionOnlyCallback (open_manipulator_msgs::SetKinematicsPose::Request &req, open_manipulator_msgs::SetKinematicsPose::Response &res)
bool	goalToolControlCallback (open_manipulator_msgs::SetJointPosition::Request &req, open_manipulator_msgs::SetJointPosition::Response &res)
void	initPublisher ()
void	initServer ()
void	initSubscriber ()
void	moveGroupGoalCallback (const moveit_msgs::MoveGroupActionGoal::ConstPtr &msg)
void	moveitTimer (double present_time)
	OpenManipulatorController (std::string usb_port, std::string baud_rate)
void	openManipulatorOptionCallback (const std_msgs::String::ConstPtr &msg)
void	process (double time)
void	publishCallback (const ros::TimerEvent &)
void	publishGazeboCommand ()
void	publishJointStates ()
void	publishKinematicsPose ()
void	publishOpenManipulatorStates ()
bool	setActuatorStateCallback (open_manipulator_msgs::SetActuatorState::Request &req, open_manipulator_msgs::SetActuatorState::Response &res)
bool	setJointPositionMsgCallback (open_manipulator_msgs::SetJointPosition::Request &req, open_manipulator_msgs::SetJointPosition::Response &res)
bool	setKinematicsPoseMsgCallback (open_manipulator_msgs::SetKinematicsPose::Request &req, open_manipulator_msgs::SetKinematicsPose::Response &res)
void	startTimerThread ()
	~OpenManipulatorController ()

Static Public Member Functions
static void *	timerThread (void *param)

Private Attributes
pthread_attr_t	attr_
double	control_period_
ros::Subscriber	display_planned_path_sub_
ros::Subscriber	execute_traj_goal_sub_
std::vector< ros::Publisher >	gazebo_goal_joint_position_pub_
ros::ServiceServer	get_joint_position_server_
ros::ServiceServer	get_kinematics_pose_server_
ros::ServiceServer	goal_drawing_trajectory_server_
ros::ServiceServer	goal_joint_space_path_from_present_server_
ros::ServiceServer	goal_joint_space_path_server_
ros::ServiceServer	goal_joint_space_path_to_kinematics_orientation_server_
ros::ServiceServer	goal_joint_space_path_to_kinematics_pose_server_
ros::ServiceServer	goal_joint_space_path_to_kinematics_position_server_
ros::ServiceServer	goal_task_space_path_from_present_orientation_only_server_
ros::ServiceServer	goal_task_space_path_from_present_position_only_server_
ros::ServiceServer	goal_task_space_path_from_present_server_
ros::ServiceServer	goal_task_space_path_orientation_only_server_
ros::ServiceServer	goal_task_space_path_position_only_server_
ros::ServiceServer	goal_task_space_path_server_
ros::ServiceServer	goal_tool_control_server_
trajectory_msgs::JointTrajectory	joint_trajectory_
moveit::planning_interface::MoveGroupInterface *	move_group_
ros::Subscriber	move_group_goal_sub_
bool	moveit_plan_only_
bool	moveit_plan_state_
double	moveit_sampling_time_
ros::Publisher	moveit_update_start_state_pub_
ros::NodeHandle	node_handle_
OpenManipulator	open_manipulator_
ros::Publisher	open_manipulator_joint_states_pub_
std::vector< ros::Publisher >	open_manipulator_kinematics_pose_pub_
ros::Subscriber	open_manipulator_option_sub_
ros::Publisher	open_manipulator_states_pub_
ros::NodeHandle	priv_node_handle_
ros::ServiceServer	set_actuator_state_server_
ros::ServiceServer	set_joint_position_server_
ros::ServiceServer	set_kinematics_pose_server_
pthread_t	timer_thread_
bool	timer_thread_state_
bool	tool_ctrl_state_
bool	using_moveit_
bool	using_platform_

Detailed Description

Definition at line 58 of file open_manipulator_controller.h.

Constructor & Destructor Documentation

OpenManipulatorController::OpenManipulatorController	(	std::string	usb_port,
		std::string	baud_rate
	)

Definition at line 23 of file open_manipulator_controller.cpp.

OpenManipulatorController::~OpenManipulatorController

(

)

Definition at line 53 of file open_manipulator_controller.cpp.

Member Function Documentation

bool OpenManipulatorController::calcPlannedPath	(	const std::string	planning_group,
		open_manipulator_msgs::JointPosition	msg
	)

Definition at line 607 of file open_manipulator_controller.cpp.

bool OpenManipulatorController::calcPlannedPath	(	const std::string	planning_group,
		open_manipulator_msgs::KinematicsPose	msg
	)

Definition at line 566 of file open_manipulator_controller.cpp.

void OpenManipulatorController::displayPlannedPathCallback

(

const moveit_msgs::DisplayTrajectory::ConstPtr &

msg

)

Definition at line 217 of file open_manipulator_controller.cpp.

void OpenManipulatorController::executeTrajGoalCallback

(

const moveit_msgs::ExecuteTrajectoryActionGoal::ConstPtr &

msg

)

Definition at line 237 of file open_manipulator_controller.cpp.

double open_manipulator_controller::OpenManipulatorController::getControlPeriod ( void  )

inline

Definition at line 138 of file open_manipulator_controller.h.

bool OpenManipulatorController::getJointPositionMsgCallback	(	open_manipulator_msgs::GetJointPosition::Request &	req,
		open_manipulator_msgs::GetJointPosition::Response &	res
	)

Definition at line 514 of file open_manipulator_controller.cpp.

bool OpenManipulatorController::getKinematicsPoseMsgCallback	(	open_manipulator_msgs::GetKinematicsPose::Request &	req,
		open_manipulator_msgs::GetKinematicsPose::Response &	res
	)

Definition at line 533 of file open_manipulator_controller.cpp.

bool OpenManipulatorController::goalDrawingTrajectoryCallback	(	open_manipulator_msgs::SetDrawingTrajectory::Request &	req,
		open_manipulator_msgs::SetDrawingTrajectory::Response &	res
	)

Definition at line 459 of file open_manipulator_controller.cpp.

bool OpenManipulatorController::goalJointSpacePathCallback	(	open_manipulator_msgs::SetJointPosition::Request &	req,
		open_manipulator_msgs::SetJointPosition::Response &	res
	)

Definition at line 243 of file open_manipulator_controller.cpp.

bool OpenManipulatorController::goalJointSpacePathFromPresentCallback	(	open_manipulator_msgs::SetJointPosition::Request &	req,
		open_manipulator_msgs::SetJointPosition::Response &	res
	)

Definition at line 360 of file open_manipulator_controller.cpp.

bool OpenManipulatorController::goalJointSpacePathToKinematicsOrientationCallback	(	open_manipulator_msgs::SetKinematicsPose::Request &	req,
		open_manipulator_msgs::SetKinematicsPose::Response &	res
	)

Definition at line 292 of file open_manipulator_controller.cpp.

bool OpenManipulatorController::goalJointSpacePathToKinematicsPoseCallback	(	open_manipulator_msgs::SetKinematicsPose::Request &	req,
		open_manipulator_msgs::SetKinematicsPose::Response &	res
	)

Definition at line 257 of file open_manipulator_controller.cpp.

bool OpenManipulatorController::goalJointSpacePathToKinematicsPositionCallback	(	open_manipulator_msgs::SetKinematicsPose::Request &	req,
		open_manipulator_msgs::SetKinematicsPose::Response &	res
	)

Definition at line 278 of file open_manipulator_controller.cpp.

bool OpenManipulatorController::goalTaskSpacePathCallback	(	open_manipulator_msgs::SetKinematicsPose::Request &	req,
		open_manipulator_msgs::SetKinematicsPose::Response &	res
	)

Definition at line 310 of file open_manipulator_controller.cpp.

bool OpenManipulatorController::goalTaskSpacePathFromPresentCallback	(	open_manipulator_msgs::SetKinematicsPose::Request &	req,
		open_manipulator_msgs::SetKinematicsPose::Response &	res
	)

Definition at line 374 of file open_manipulator_controller.cpp.

bool OpenManipulatorController::goalTaskSpacePathFromPresentOrientationOnlyCallback	(	open_manipulator_msgs::SetKinematicsPose::Request &	req,
		open_manipulator_msgs::SetKinematicsPose::Response &	res
	)

Definition at line 409 of file open_manipulator_controller.cpp.

bool OpenManipulatorController::goalTaskSpacePathFromPresentPositionOnlyCallback	(	open_manipulator_msgs::SetKinematicsPose::Request &	req,
		open_manipulator_msgs::SetKinematicsPose::Response &	res
	)

Definition at line 395 of file open_manipulator_controller.cpp.

bool OpenManipulatorController::goalTaskSpacePathOrientationOnlyCallback	(	open_manipulator_msgs::SetKinematicsPose::Request &	req,
		open_manipulator_msgs::SetKinematicsPose::Response &	res
	)

Definition at line 344 of file open_manipulator_controller.cpp.

bool OpenManipulatorController::goalTaskSpacePathPositionOnlyCallback	(	open_manipulator_msgs::SetKinematicsPose::Request &	req,
		open_manipulator_msgs::SetKinematicsPose::Response &	res
	)

Definition at line 330 of file open_manipulator_controller.cpp.

bool OpenManipulatorController::goalToolControlCallback	(	open_manipulator_msgs::SetJointPosition::Request &	req,
		open_manipulator_msgs::SetJointPosition::Response &	res
	)

Definition at line 425 of file open_manipulator_controller.cpp.

void OpenManipulatorController::initPublisher

(

)

Definition at line 131 of file open_manipulator_controller.cpp.

void OpenManipulatorController::initServer

(

)

Definition at line 181 of file open_manipulator_controller.cpp.

void OpenManipulatorController::initSubscriber

(

)

Definition at line 166 of file open_manipulator_controller.cpp.

void OpenManipulatorController::moveGroupGoalCallback

(

const moveit_msgs::MoveGroupActionGoal::ConstPtr &

msg

)

Definition at line 231 of file open_manipulator_controller.cpp.

void OpenManipulatorController::moveitTimer

(

double

present_time

)

Definition at line 758 of file open_manipulator_controller.cpp.

void OpenManipulatorController::openManipulatorOptionCallback

(

const std_msgs::String::ConstPtr &

msg

)

Definition at line 211 of file open_manipulator_controller.cpp.

void OpenManipulatorController::process

(

double

time

)

Definition at line 803 of file open_manipulator_controller.cpp.

void OpenManipulatorController::publishCallback

(

const ros::TimerEvent &

)

Definition at line 749 of file open_manipulator_controller.cpp.

void OpenManipulatorController::publishGazeboCommand

(

)

Definition at line 727 of file open_manipulator_controller.cpp.

void OpenManipulatorController::publishJointStates

(

)

Definition at line 696 of file open_manipulator_controller.cpp.

void OpenManipulatorController::publishKinematicsPose

(

)

Definition at line 673 of file open_manipulator_controller.cpp.

void OpenManipulatorController::publishOpenManipulatorStates

(

)

Definition at line 657 of file open_manipulator_controller.cpp.

bool OpenManipulatorController::setActuatorStateCallback	(	open_manipulator_msgs::SetActuatorState::Request &	req,
		open_manipulator_msgs::SetActuatorState::Response &	res
	)

Definition at line 435 of file open_manipulator_controller.cpp.

bool OpenManipulatorController::setJointPositionMsgCallback	(	open_manipulator_msgs::SetJointPosition::Request &	req,
		open_manipulator_msgs::SetJointPosition::Response &	res
	)

Definition at line 548 of file open_manipulator_controller.cpp.

bool OpenManipulatorController::setKinematicsPoseMsgCallback	(	open_manipulator_msgs::SetKinematicsPose::Request &	req,
		open_manipulator_msgs::SetKinematicsPose::Response &	res
	)

Definition at line 557 of file open_manipulator_controller.cpp.

void OpenManipulatorController::startTimerThread

(

)

Use this when you want to increase the priority of threads.

Definition at line 62 of file open_manipulator_controller.cpp.

void * OpenManipulatorController::timerThread ( void *  param )

static

Definition at line 99 of file open_manipulator_controller.cpp.

Member Data Documentation

pthread_attr_t open_manipulator_controller::OpenManipulatorController::attr_

private

Definition at line 111 of file open_manipulator_controller.h.

double open_manipulator_controller::OpenManipulatorController::control_period_

private

Definition at line 68 of file open_manipulator_controller.h.

ros::Subscriber open_manipulator_controller::OpenManipulatorController::display_planned_path_sub_

private

Definition at line 79 of file open_manipulator_controller.h.

ros::Subscriber open_manipulator_controller::OpenManipulatorController::execute_traj_goal_sub_

private

Definition at line 81 of file open_manipulator_controller.h.

std::vector<ros::Publisher> open_manipulator_controller::OpenManipulatorController::gazebo_goal_joint_position_pub_

private

Definition at line 74 of file open_manipulator_controller.h.

ros::ServiceServer open_manipulator_controller::OpenManipulatorController::get_joint_position_server_

private

Definition at line 98 of file open_manipulator_controller.h.

ros::ServiceServer open_manipulator_controller::OpenManipulatorController::get_kinematics_pose_server_

private

Definition at line 99 of file open_manipulator_controller.h.

ros::ServiceServer open_manipulator_controller::OpenManipulatorController::goal_drawing_trajectory_server_

private

Definition at line 97 of file open_manipulator_controller.h.

ros::ServiceServer open_manipulator_controller::OpenManipulatorController::goal_joint_space_path_from_present_server_

private

Definition at line 91 of file open_manipulator_controller.h.

ros::ServiceServer open_manipulator_controller::OpenManipulatorController::goal_joint_space_path_server_

private

Definition at line 84 of file open_manipulator_controller.h.

ros::ServiceServer open_manipulator_controller::OpenManipulatorController::goal_joint_space_path_to_kinematics_orientation_server_

private

Definition at line 87 of file open_manipulator_controller.h.

ros::ServiceServer open_manipulator_controller::OpenManipulatorController::goal_joint_space_path_to_kinematics_pose_server_

private

Definition at line 85 of file open_manipulator_controller.h.

ros::ServiceServer open_manipulator_controller::OpenManipulatorController::goal_joint_space_path_to_kinematics_position_server_

private

Definition at line 86 of file open_manipulator_controller.h.

ros::ServiceServer open_manipulator_controller::OpenManipulatorController::goal_task_space_path_from_present_orientation_only_server_

private

Definition at line 93 of file open_manipulator_controller.h.

ros::ServiceServer open_manipulator_controller::OpenManipulatorController::goal_task_space_path_from_present_position_only_server_

private

Definition at line 92 of file open_manipulator_controller.h.

ros::ServiceServer open_manipulator_controller::OpenManipulatorController::goal_task_space_path_from_present_server_

private

Definition at line 94 of file open_manipulator_controller.h.

ros::ServiceServer open_manipulator_controller::OpenManipulatorController::goal_task_space_path_orientation_only_server_

private

Definition at line 90 of file open_manipulator_controller.h.

ros::ServiceServer open_manipulator_controller::OpenManipulatorController::goal_task_space_path_position_only_server_

private

Definition at line 89 of file open_manipulator_controller.h.

ros::ServiceServer open_manipulator_controller::OpenManipulatorController::goal_task_space_path_server_

private

Definition at line 88 of file open_manipulator_controller.h.

ros::ServiceServer open_manipulator_controller::OpenManipulatorController::goal_tool_control_server_

private

Definition at line 95 of file open_manipulator_controller.h.

trajectory_msgs::JointTrajectory open_manipulator_controller::OpenManipulatorController::joint_trajectory_

private

Definition at line 105 of file open_manipulator_controller.h.

moveit::planning_interface::MoveGroupInterface* open_manipulator_controller::OpenManipulatorController::move_group_

private

Definition at line 104 of file open_manipulator_controller.h.

ros::Subscriber open_manipulator_controller::OpenManipulatorController::move_group_goal_sub_

private

Definition at line 80 of file open_manipulator_controller.h.

bool open_manipulator_controller::OpenManipulatorController::moveit_plan_only_

private

Definition at line 107 of file open_manipulator_controller.h.

bool open_manipulator_controller::OpenManipulatorController::moveit_plan_state_

private

Definition at line 119 of file open_manipulator_controller.h.

double open_manipulator_controller::OpenManipulatorController::moveit_sampling_time_

private

Definition at line 106 of file open_manipulator_controller.h.

ros::Publisher open_manipulator_controller::OpenManipulatorController::moveit_update_start_state_pub_

private

Definition at line 75 of file open_manipulator_controller.h.

ros::NodeHandle open_manipulator_controller::OpenManipulatorController::node_handle_

private

Definition at line 62 of file open_manipulator_controller.h.

OpenManipulator open_manipulator_controller::OpenManipulatorController::open_manipulator_

private

Definition at line 114 of file open_manipulator_controller.h.

ros::Publisher open_manipulator_controller::OpenManipulatorController::open_manipulator_joint_states_pub_

private

Definition at line 73 of file open_manipulator_controller.h.

std::vector<ros::Publisher> open_manipulator_controller::OpenManipulatorController::open_manipulator_kinematics_pose_pub_

private

Definition at line 72 of file open_manipulator_controller.h.

ros::Subscriber open_manipulator_controller::OpenManipulatorController::open_manipulator_option_sub_

private

Definition at line 78 of file open_manipulator_controller.h.

ros::Publisher open_manipulator_controller::OpenManipulatorController::open_manipulator_states_pub_

private

Definition at line 71 of file open_manipulator_controller.h.

ros::NodeHandle open_manipulator_controller::OpenManipulatorController::priv_node_handle_

private

Definition at line 63 of file open_manipulator_controller.h.

ros::ServiceServer open_manipulator_controller::OpenManipulatorController::set_actuator_state_server_

private

Definition at line 96 of file open_manipulator_controller.h.

ros::ServiceServer open_manipulator_controller::OpenManipulatorController::set_joint_position_server_

private

Definition at line 100 of file open_manipulator_controller.h.

ros::ServiceServer open_manipulator_controller::OpenManipulatorController::set_kinematics_pose_server_

private

Definition at line 101 of file open_manipulator_controller.h.

pthread_t open_manipulator_controller::OpenManipulatorController::timer_thread_

private

Definition at line 110 of file open_manipulator_controller.h.

bool open_manipulator_controller::OpenManipulatorController::timer_thread_state_

private

Definition at line 118 of file open_manipulator_controller.h.

bool open_manipulator_controller::OpenManipulatorController::tool_ctrl_state_

private

Definition at line 117 of file open_manipulator_controller.h.

bool open_manipulator_controller::OpenManipulatorController::using_moveit_

private

Definition at line 67 of file open_manipulator_controller.h.

bool open_manipulator_controller::OpenManipulatorController::using_platform_

private

Definition at line 66 of file open_manipulator_controller.h.

---

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

• open_manipulator_controller.h
• open_manipulator_controller.cpp