Interface for robots based on ROS. More...

#include <vpROSRobot.h>

Inheritance diagram for vpROSRobot:

Public Member Functions
void	getDisplacement (const vpRobot::vpControlFrameType, vpColVector &)

void	getDisplacement (const vpRobot::vpControlFrameType, vpColVector &, struct timespec &timestamp)

void	getPosition (const vpRobot::vpControlFrameType, vpColVector &)

void	init ()
	basic initialization More...

void	init (int argc, char **argv)

void	setCmdVelTopic (std::string topic_name)

void	setMasterURI (std::string master_uri)

void	setNodespace (std::string nodespace)

void	setOdomTopic (std::string topic_name)

void	setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &vel)

void	stopMotion ()

	vpROSRobot ()
	constructor More...

virtual	~vpROSRobot ()
	destructor More...

Protected Attributes
std::string	_master_uri

std::string	_nodespace

uint32_t	_nsec

uint32_t	_sec

std::string	_topic_cmd

std::string	_topic_odom

ros::Publisher	cmdvel

vpColVector	displacement

bool	isInitialized

ros::NodeHandle *	n

ros::Subscriber	odom

volatile bool	odom_mutex

vpTranslationVector	p

vpColVector	pose_prev

vpQuaternionVector	q

ros::AsyncSpinner *	spinner

Private Member Functions
void	get_eJe (vpMatrix &eJe)

void	get_fJe (vpMatrix &)

void	getArticularDisplacement (vpColVector &)

void	getCameraDisplacement (vpColVector &)

vpColVector	getVelocity (const vpRobot::vpControlFrameType frame)

void	getVelocity (const vpRobot::vpControlFrameType frame, vpColVector &velocity)

void	odomCallback (const nav_msgs::Odometry::ConstPtr &msg)

void	setPosition (const vpRobot::vpControlFrameType, const vpColVector &)

	vpROSRobot (const vpROSRobot &robot)

Detailed Description

Interface for robots based on ROS.

Definition at line 62 of file vpROSRobot.h.

Constructor & Destructor Documentation

◆ vpROSRobot() [1/2]

vpROSRobot::vpROSRobot ( const vpROSRobot & robot )

private

◆ vpROSRobot() [2/2]

vpROSRobot::vpROSRobot ( )

constructor

Definition at line 58 of file vpROSRobot.cpp.

◆ ~vpROSRobot()

vpROSRobot::~vpROSRobot ( )

virtual

destructor

Definition at line 75 of file vpROSRobot.cpp.

Member Function Documentation

◆ get_eJe()

void vpROSRobot::get_eJe ( vpMatrix & eJe )

inlineprivate

Definition at line 84 of file vpROSRobot.h.

◆ get_fJe()

void vpROSRobot::get_fJe ( vpMatrix & )

inlineprivate

Get the robot Jacobian expressed in the robot reference (or world) frame.

Warning: Not implemented.

Definition at line 91 of file vpROSRobot.h.

◆ getArticularDisplacement()

void vpROSRobot::getArticularDisplacement ( vpColVector & )

inlineprivate

Get a displacement expressed in the joint space between two successive position control.

Warning: Not implemented.

Definition at line 97 of file vpROSRobot.h.

◆ getCameraDisplacement()

void vpROSRobot::getCameraDisplacement ( vpColVector & )

private

◆ getDisplacement() [1/2]

void vpROSRobot::getDisplacement	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	dis
	)

Get the robot displacement (frame has to be specified).

Parameters

frame	: Control frame. For the moment, only vpRobot::REFERENCE_FRAME is implemented.
dis	: A 6 dimension vector that corresponds to the displacement of the robot since the last call to the function.

Exceptions

vpRobotException::wrongStateError : If the specified control frame is not supported.

Definition at line 252 of file vpROSRobot.cpp.

◆ getDisplacement() [2/2]

void vpROSRobot::getDisplacement	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	dis,
		struct timespec &	timestamp
	)

Get the robot displacement (frame has to be specified).

Parameters

frame	: Control frame. For the moment, only vpRobot::REFERENCE_FRAME is implemented.
dis	: A 6 dimension vector that corresponds to the displacement of the robot since the last call to the function.
timestamp	: timestamp of the last update of the displacement

Exceptions

vpRobotException::wrongStateError : If the specified control frame is not supported.

Definition at line 219 of file vpROSRobot.cpp.

◆ getPosition()

void vpROSRobot::getPosition	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	pose
	)

Get the robot position (frame has to be specified).

Parameters

frame	: Control frame. For the moment, only vpRobot::REFERENCE_FRAME is implemented.
pose	: A 6 dimension vector that corresponds to the position of the robot.

Exceptions

vpRobotException::wrongStateError : If the specified control frame is not supported.

Definition at line 180 of file vpROSRobot.cpp.

◆ getVelocity() [1/2]

vpColVector vpROSRobot::getVelocity ( const vpRobot::vpControlFrameType frame )

private

◆ getVelocity() [2/2]

void vpROSRobot::getVelocity	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	velocity
	)

private

◆ init() [1/2]

void vpROSRobot::init ( )

basic initialization

Basic initialisation

Definition at line 113 of file vpROSRobot.cpp.

◆ init() [2/2]

void vpROSRobot::init	(	int	argc,
		char **	argv
	)

Basic initialisation

Parameters

argc,argv : parameters of the main function

Definition at line 92 of file vpROSRobot.cpp.

◆ odomCallback()

void vpROSRobot::odomCallback ( const nav_msgs::Odometry::ConstPtr & msg )

private

Definition at line 259 of file vpROSRobot.cpp.

◆ setCmdVelTopic()

void vpROSRobot::setCmdVelTopic ( std::string topic_name )

Set the ROS topic name for cmdvel

Parameters

topic_name name of the topic.

Examples: tutorial-ros-pioneer-visual-servo.cpp, tutorial-ros-pioneer.cpp, and tutorial_ros_node_pioneer_visual_servo.cpp.

Definition at line 305 of file vpROSRobot.cpp.

◆ setMasterURI()

void vpROSRobot::setMasterURI ( std::string master_uri )

Set the URI for ROS Master

Parameters

master_uri URI of the master ("http://127.0.0.1:11311")

Definition at line 331 of file vpROSRobot.cpp.

◆ setNodespace()

void vpROSRobot::setNodespace ( std::string nodespace )

Set the nodespace

Parameters

nodespace Namespace of the connected camera (nodespace is appended to the all topic names)

Definition at line 344 of file vpROSRobot.cpp.

◆ setOdomTopic()

void vpROSRobot::setOdomTopic ( std::string topic_name )

Set the ROS topic name for odom

Parameters

topic_name name of the topic.

Definition at line 318 of file vpROSRobot.cpp.

◆ setPosition()

void vpROSRobot::setPosition	(	const vpRobot::vpControlFrameType	,
		const vpColVector &
	)

inlineprivate

Set a displacement (frame has to be specified) in position control.

Warning: Not implemented.

Definition at line 106 of file vpROSRobot.h.

◆ setVelocity()

void vpROSRobot::setVelocity	(	const vpRobot::vpControlFrameType	frame,
		const vpColVector &	vel
	)

Set the velocity (frame has to be specified) that will be applied to the robot.

Parameters

frame	: Control frame. For the moment, only vpRobot::REFERENCE_FRAME is implemented.
vel	: A 6 dimension vector that corresponds to the velocities to apply to the robot.

Exceptions

vpRobotException::wrongStateError : If the specified control frame is not supported.

Definition at line 149 of file vpROSRobot.cpp.

◆ stopMotion()

void vpROSRobot::stopMotion ( )

Definition at line 285 of file vpROSRobot.cpp.

Member Data Documentation

◆ _master_uri

std::string vpROSRobot::_master_uri

protected

Definition at line 78 of file vpROSRobot.h.

◆ _nodespace

std::string vpROSRobot::_nodespace

protected

Definition at line 81 of file vpROSRobot.h.

◆ _nsec

uint32_t vpROSRobot::_nsec

protected

Definition at line 76 of file vpROSRobot.h.

◆ _sec

uint32_t vpROSRobot::_sec

protected

Definition at line 76 of file vpROSRobot.h.

◆ _topic_cmd

std::string vpROSRobot::_topic_cmd

protected

Definition at line 79 of file vpROSRobot.h.

◆ _topic_odom

std::string vpROSRobot::_topic_odom

protected

Definition at line 80 of file vpROSRobot.h.

◆ cmdvel

ros::Publisher vpROSRobot::cmdvel

protected

Definition at line 66 of file vpROSRobot.h.

◆ displacement

vpColVector vpROSRobot::displacement

protected

Definition at line 75 of file vpROSRobot.h.

◆ isInitialized

bool vpROSRobot::isInitialized

protected

Definition at line 70 of file vpROSRobot.h.

◆ n

ros::NodeHandle* vpROSRobot::n

protected

Definition at line 65 of file vpROSRobot.h.

◆ odom

ros::Subscriber vpROSRobot::odom

protected

Definition at line 67 of file vpROSRobot.h.

◆ odom_mutex

volatile bool vpROSRobot::odom_mutex

protected

Definition at line 77 of file vpROSRobot.h.

◆ p

vpTranslationVector vpROSRobot::p

protected

Definition at line 73 of file vpROSRobot.h.

◆ pose_prev

vpColVector vpROSRobot::pose_prev

protected

Definition at line 74 of file vpROSRobot.h.

◆ q

vpQuaternionVector vpROSRobot::q

protected

Definition at line 72 of file vpROSRobot.h.

◆ spinner

ros::AsyncSpinner* vpROSRobot::spinner

protected

Definition at line 68 of file vpROSRobot.h.

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

Public Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ vpROSRobot() [1/2]

◆ vpROSRobot() [2/2]

◆ ~vpROSRobot()

Member Function Documentation

◆ get_eJe()

◆ get_fJe()

◆ getArticularDisplacement()

◆ getCameraDisplacement()

◆ getDisplacement() [1/2]

◆ getDisplacement() [2/2]

◆ getPosition()

◆ getVelocity() [1/2]

◆ getVelocity() [2/2]

◆ init() [1/2]

◆ init() [2/2]

◆ odomCallback()

◆ setCmdVelTopic()

◆ setMasterURI()

◆ setNodespace()

◆ setOdomTopic()

◆ setPosition()

◆ setVelocity()

◆ stopMotion()

Member Data Documentation

◆ _master_uri

◆ _nodespace

◆ _nsec

◆ _sec

◆ _topic_cmd

◆ _topic_odom

◆ cmdvel

◆ displacement

◆ isInitialized

◆ n

◆ odom

◆ odom_mutex

◆ p

◆ pose_prev

◆ q

◆ spinner