joint_effort_controller.cpp
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34 
37 
39 
40 namespace controller {
41 
42 JointEffortController::JointEffortController()
43 : joint_state_(NULL), command_(0), robot_(NULL)
44 {
45 }
46 
48 {
50 }
51 
52 bool JointEffortController::init(pr2_mechanism_model::RobotState *robot, const std::string &joint_name)
53 {
54  if (!robot)
55  {
56  ROS_ERROR("The given robot was NULL");
57  return false;
58  }
59  robot_ = robot;
60 
61  joint_state_ = robot_->getJointState(joint_name);
62  if (!joint_state_)
63  {
64  ROS_ERROR("JointEffortController could not find joint named \"%s\"",
65  joint_name.c_str());
66  return false;
67  }
68 
69  return true;
70 }
71 
73 {
74  assert(robot);
75  node_ = n;
76  robot_ = robot;
77 
78  std::string joint_name;
79  if (!node_.getParam("joint", joint_name))
80  {
81  ROS_ERROR("No joint given (namespace: %s)", node_.getNamespace().c_str());
82  return false;
83  }
84 
85  if (!(joint_state_ = robot_->getJointState(joint_name)))
86  {
87  ROS_ERROR("Could not find joint \"%s\" (namespace: %s)",
88  joint_name.c_str(), node_.getNamespace().c_str());
89  return false;
90  }
91 
92  sub_command_ = node_.subscribe<std_msgs::Float64>(
93  "command", 1, &JointEffortController::commandCB, this);
94 
95  return true;
96 }
97 
99 {
101 }
102 
103 void JointEffortController::commandCB(const std_msgs::Float64ConstPtr& msg)
104 {
105  command_ = msg->data;
106 }
107 
108 }
PLUGINLIB_EXPORT_CLASS(my_controller_ns::MyControllerClass, pr2_controller_interface::Controller)
void commandCB(const std_msgs::Float64ConstPtr &msg)
Subscriber subscribe(const std::string &topic, uint32_t queue_size, void(T::*fp)(M), T *obj, const TransportHints &transport_hints=TransportHints())
pr2_mechanism_model::RobotState * robot_
const std::string & getNamespace() const
pr2_mechanism_model::JointState * joint_state_
JointState * getJointState(const std::string &name)
bool getParam(const std::string &key, std::string &s) const
bool init(pr2_mechanism_model::RobotState *robot, const std::string &joint_name)
#define ROS_ERROR(...)


robot_mechanism_controllers
Author(s): John Hsu, Melonee Wise, Stuart Glaser
autogenerated on Mon Jun 10 2019 14:26:26