xpp::UrdfVisualizer Class Reference

Publishes RVIZ transforms used to visualize a robot's URDF. More...

#include <urdf_visualizer.h>

Public Types
using	URDFName = std::string
using	UrdfnameToJointAngle = std::map< URDFName, double >

Public Member Functions
	UrdfVisualizer (const std::string &urdf_name, const std::vector< URDFName > &joint_names_in_urdf, const URDFName &base_link_in_urdf, const std::string &rviz_fixed_frame, const std::string &state_topic, const std::string &tf_prefix="")
	Constructs the visualizer for a specific URDF urdf_name. More...
virtual	~UrdfVisualizer ()=default

Private Member Functions
UrdfnameToJointAngle	AssignAngleToURDFJointName (const sensor_msgs::JointState &msg) const
geometry_msgs::TransformStamped	GetBaseFromRos (const ::ros::Time &stamp, const geometry_msgs::Pose &msg) const
void	StateCallback (const xpp_msgs::RobotStateJoint &msg)

Private Attributes
URDFName	base_joint_in_urdf_
std::vector< URDFName >	joint_names_in_urdf_
std::shared_ptr< robot_state_publisher::RobotStatePublisher >	robot_publisher
std::string	rviz_fixed_frame_
std::string	state_msg_name_
ros::Subscriber	state_sub_des_
tf::TransformBroadcaster	tf_broadcaster_
std::string	tf_prefix_

Detailed Description

Publishes RVIZ transforms used to visualize a robot's URDF.

This class is responsible for converting an xpp_msgs::RobotStateJoint robot message and publishing the corresponding RVIZ transforms.

Definition at line 60 of file urdf_visualizer.h.

Member Typedef Documentation

URDFName

using xpp::UrdfVisualizer::URDFName = std::string

Definition at line 62 of file urdf_visualizer.h.

UrdfnameToJointAngle

using xpp::UrdfVisualizer::UrdfnameToJointAngle = std::map<URDFName, double>

Definition at line 63 of file urdf_visualizer.h.

Constructor & Destructor Documentation

UrdfVisualizer()

xpp::UrdfVisualizer::UrdfVisualizer	(	const std::string &	urdf_name,
		const std::vector< URDFName > &	joint_names_in_urdf,
		const URDFName &	base_link_in_urdf,
		const std::string &	rviz_fixed_frame,
		const std::string &	state_topic,
		const std::string &	tf_prefix = ""
	)

Constructs the visualizer for a specific URDF urdf_name.

Parameters

urdf_name	Robot description variable on the ROS parameter server.
joint_names_in_urdf	The names of the joints in the URDF file ordered in the same way as in the xpp convention (see inverse kinematics).
base_link_in_urdf	The name of the base_link in the URDF file.
rviz_fixed_frame	The Fixed Frame name specified in RVIZ.
state_topic	The topic of the xpp_msgs::RobotStateJoint ROS message to subscribe to.
tf_prefix	In case multiple URDFS are loaded, each can be given a unique tf_prefix in RIVZ to visualize different states simultaneously.

Definition at line 34 of file urdf_visualizer.cc.

~UrdfVisualizer()

virtual xpp::UrdfVisualizer::~UrdfVisualizer ( )

virtualdefault

Member Function Documentation

AssignAngleToURDFJointName()

UrdfVisualizer::UrdfnameToJointAngle xpp::UrdfVisualizer::AssignAngleToURDFJointName ( const sensor_msgs::JointState &  msg ) const

private

Definition at line 78 of file urdf_visualizer.cc.

GetBaseFromRos()

geometry_msgs::TransformStamped xpp::UrdfVisualizer::GetBaseFromRos ( const ::ros::Time &  stamp, const geometry_msgs::Pose &  msg  ) const

private

Definition at line 89 of file urdf_visualizer.cc.

StateCallback()

void xpp::UrdfVisualizer::StateCallback ( const xpp_msgs::RobotStateJoint &  msg )

private

Definition at line 67 of file urdf_visualizer.cc.

Member Data Documentation

base_joint_in_urdf_

URDFName xpp::UrdfVisualizer::base_joint_in_urdf_

private

Definition at line 98 of file urdf_visualizer.h.

joint_names_in_urdf_

std::vector<URDFName> xpp::UrdfVisualizer::joint_names_in_urdf_

private

Definition at line 97 of file urdf_visualizer.h.

robot_publisher

std::shared_ptr<robot_state_publisher::RobotStatePublisher> xpp::UrdfVisualizer::robot_publisher

private

Definition at line 89 of file urdf_visualizer.h.

rviz_fixed_frame_

std::string xpp::UrdfVisualizer::rviz_fixed_frame_

private

Definition at line 101 of file urdf_visualizer.h.

state_msg_name_

std::string xpp::UrdfVisualizer::state_msg_name_

private

Definition at line 100 of file urdf_visualizer.h.

state_sub_des_

ros::Subscriber xpp::UrdfVisualizer::state_sub_des_

private

Definition at line 87 of file urdf_visualizer.h.

tf_broadcaster_

tf::TransformBroadcaster xpp::UrdfVisualizer::tf_broadcaster_

private

Definition at line 88 of file urdf_visualizer.h.

tf_prefix_

std::string xpp::UrdfVisualizer::tf_prefix_

private

Definition at line 102 of file urdf_visualizer.h.

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

• urdf_visualizer.h
• urdf_visualizer.cc