IRI ROS Specific Driver Class. More...

#include <tibi_arm_node_driver_node.h>

Inheritance diagram for TibiArmNodeDriverNode:

Public Member Functions
	TibiArmNodeDriverNode (ros::NodeHandle &nh)
	constructor
	~TibiArmNodeDriverNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	addNodeOpenedTests (void)
	open status driver tests
void	addNodeRunningTests (void)
	run status driver tests
void	addNodeStoppedTests (void)
	stop status driver tests
void	check_motion_sequence_status (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	mainNodeThread (void)
	main node thread
void	reconfigureNodeHook (int level)
	specific node dynamic reconfigure
Private Member Functions
void	joint_motionGetFeedbackCallback (control_msgs::FollowJointTrajectoryFeedbackPtr &feedback)
void	joint_motionGetResultCallback (control_msgs::FollowJointTrajectoryResultPtr &result)
bool	joint_motionHasSucceedCallback (void)
bool	joint_motionIsFinishedCallback (void)
void	joint_motionStartCallback (const control_msgs::FollowJointTrajectoryGoalConstPtr &goal)
void	joint_motionStopCallback (void)
void	motion_sequenceGetFeedbackCallback (tibi_dabo_msgs::sequenceFeedbackPtr &feedback)
void	motion_sequenceGetResultCallback (tibi_dabo_msgs::sequenceResultPtr &result)
bool	motion_sequenceHasSucceedCallback (void)
bool	motion_sequenceIsFinishedCallback (void)
void	motion_sequenceStartCallback (const tibi_dabo_msgs::sequenceGoalConstPtr &goal)
void	motion_sequenceStopCallback (void)
void	postNodeOpenHook (void)
	post open hook
void	preNodeCloseHook (void)
Private Attributes
ros::Publisher	joint_feedback_publisher_
IriActionServer < control_msgs::FollowJointTrajectoryAction >	joint_motion_aserver_
sensor_msgs::JointState	JointState_msg_
IriActionServer < tibi_dabo_msgs::sequenceAction >	motion_sequence_aserver_
std::string	side_id

Detailed Description

IRI ROS Specific Driver Class.

This class inherits from the IRI Core class IriBaseNodeDriver<IriBaseDriver>, to provide an execution thread to the driver object. A complete framework with utilites to test the node functionallity or to add diagnostics to specific situations is also given. The inherit template design form allows complete access to any IriBaseDriver object implementation.

As mentioned, tests in the different driver states can be performed through class methods such as addNodeOpenedTests() or addNodeRunningTests(). Tests common to all nodes may be also executed in the pattern class IriBaseNodeDriver. Similarly to the tests, diagnostics can easyly be added. See ROS Wiki for more details: http://www.ros.org/wiki/diagnostics/ (Tutorials: Creating a Diagnostic Analyzer) http://www.ros.org/wiki/self_test/ (Example: Self Test)

Definition at line 62 of file tibi_arm_node_driver_node.h.

Constructor & Destructor Documentation

TibiArmNodeDriverNode::TibiArmNodeDriverNode ( ros::NodeHandle & nh )

constructor

This constructor mainly creates and initializes the TibiArmNodeDriverNode topics through the given public_node_handle object. IriBaseNodeDriver attributes may be also modified to suit node specifications.

All kind of ROS topics (publishers, subscribers, servers or clients) can be easyly generated with the scripts in the iri_ros_scripts package. Refer to ROS and IRI Wiki pages for more details:

http://www.ros.org/wiki/ROS/Tutorials/WritingPublisherSubscriber(c++) http://www.ros.org/wiki/ROS/Tutorials/WritingServiceClient(c++) http://wikiri.upc.es/index.php/Robotics_Lab

Parameters:

nh	a reference to the node handle object to manage all ROS topics.

Definition at line 3 of file tibi_arm_node_driver_node.cpp.

TibiArmNodeDriverNode::~TibiArmNodeDriverNode ( void )

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 496 of file tibi_arm_node_driver_node.cpp.

Member Function Documentation

void TibiArmNodeDriverNode::addNodeDiagnostics ( void ) [protected, virtual]

node add diagnostics

In this function ROS diagnostics applied to this specific node may be added. Common use diagnostics for all nodes are already called from IriBaseNodeDriver::addDiagnostics(), which also calls this function. Information of how ROS diagnostics work can be readen here: http://www.ros.org/wiki/diagnostics/ http://www.ros.org/doc/api/diagnostic_updater/html/example_8cpp-source.html

Implements iri_base_driver::IriBaseNodeDriver< TibiArmNodeDriver >.

Definition at line 475 of file tibi_arm_node_driver_node.cpp.

void TibiArmNodeDriverNode::addNodeOpenedTests ( void ) [protected, virtual]

open status driver tests

In this function tests checking driver's functionallity when driver_base status=open can be added. Common use tests for all nodes are already called from IriBaseNodeDriver tests methods. For more details on how ROS tests work, please refer to the Self Test example in: http://www.ros.org/wiki/self_test/

Implements iri_base_driver::IriBaseNodeDriver< TibiArmNodeDriver >.

Definition at line 480 of file tibi_arm_node_driver_node.cpp.

void TibiArmNodeDriverNode::addNodeRunningTests ( void ) [protected, virtual]

run status driver tests

In this function tests checking driver's functionallity when driver_base status=run can be added. Common use tests for all nodes are already called from IriBaseNodeDriver tests methods. For more details on how ROS tests work, please refer to the Self Test example in: http://www.ros.org/wiki/self_test/

Implements iri_base_driver::IriBaseNodeDriver< TibiArmNodeDriver >.

Definition at line 488 of file tibi_arm_node_driver_node.cpp.

void TibiArmNodeDriverNode::addNodeStoppedTests ( void ) [protected, virtual]

stop status driver tests

In this function tests checking driver's functionallity when driver_base status=stop can be added. Common use tests for all nodes are already called from IriBaseNodeDriver tests methods. For more details on how ROS tests work, please refer to the Self Test example in: http://www.ros.org/wiki/self_test/

Implements iri_base_driver::IriBaseNodeDriver< TibiArmNodeDriver >.

Definition at line 484 of file tibi_arm_node_driver_node.cpp.

void TibiArmNodeDriverNode::check_motion_sequence_status ( diagnostic_updater::DiagnosticStatusWrapper & stat ) [protected]

Definition at line 115 of file tibi_arm_node_driver_node.cpp.

void TibiArmNodeDriverNode::joint_motionGetFeedbackCallback ( control_msgs::FollowJointTrajectoryFeedbackPtr & feedback ) [private]

Definition at line 291 of file tibi_arm_node_driver_node.cpp.

void TibiArmNodeDriverNode::joint_motionGetResultCallback ( control_msgs::FollowJointTrajectoryResultPtr & result ) [private]

Definition at line 272 of file tibi_arm_node_driver_node.cpp.

bool TibiArmNodeDriverNode::joint_motionHasSucceedCallback ( void ) [private]

Definition at line 253 of file tibi_arm_node_driver_node.cpp.

bool TibiArmNodeDriverNode::joint_motionIsFinishedCallback ( void ) [private]

Definition at line 236 of file tibi_arm_node_driver_node.cpp.

void TibiArmNodeDriverNode::joint_motionStartCallback ( const control_msgs::FollowJointTrajectoryGoalConstPtr & goal ) [private]

Definition at line 148 of file tibi_arm_node_driver_node.cpp.

void TibiArmNodeDriverNode::joint_motionStopCallback ( void ) [private]

Definition at line 219 of file tibi_arm_node_driver_node.cpp.

void TibiArmNodeDriverNode::mainNodeThread ( void ) [protected, virtual]

main node thread

This is the main thread node function. Code written here will be executed in every node loop while the driver is on running state. Loop frequency can be tuned by modifying loop_rate attribute.

Here data related to the process loop or to ROS topics (mainly data structs related to the MSG and SRV files) must be updated. ROS publisher objects must publish their data in this process. ROS client servers may also request data to the corresponding server topics.

Implements iri_base_driver::IriBaseNodeDriver< TibiArmNodeDriver >.

Definition at line 77 of file tibi_arm_node_driver_node.cpp.

void TibiArmNodeDriverNode::motion_sequenceGetFeedbackCallback ( tibi_dabo_msgs::sequenceFeedbackPtr & feedback ) [private]

Definition at line 430 of file tibi_arm_node_driver_node.cpp.

void TibiArmNodeDriverNode::motion_sequenceGetResultCallback ( tibi_dabo_msgs::sequenceResultPtr & result ) [private]

Definition at line 411 of file tibi_arm_node_driver_node.cpp.

bool TibiArmNodeDriverNode::motion_sequenceHasSucceedCallback ( void ) [private]

Definition at line 392 of file tibi_arm_node_driver_node.cpp.

bool TibiArmNodeDriverNode::motion_sequenceIsFinishedCallback ( void ) [private]

Definition at line 373 of file tibi_arm_node_driver_node.cpp.

void TibiArmNodeDriverNode::motion_sequenceStartCallback ( const tibi_dabo_msgs::sequenceGoalConstPtr & goal ) [private]

Definition at line 319 of file tibi_arm_node_driver_node.cpp.

void TibiArmNodeDriverNode::motion_sequenceStopCallback ( void ) [private]

Definition at line 354 of file tibi_arm_node_driver_node.cpp.

void TibiArmNodeDriverNode::postNodeOpenHook ( void ) [private, virtual]

post open hook

This function is called by IriBaseNodeDriver::postOpenHook(). In this function specific parameters from the driver must be added so the ROS dynamic reconfigure application can update them.

Implements iri_base_driver::IriBaseNodeDriver< TibiArmNodeDriver >.

Definition at line 452 of file tibi_arm_node_driver_node.cpp.

void TibiArmNodeDriverNode::preNodeCloseHook ( void ) [private, virtual]

Reimplemented from iri_base_driver::IriBaseNodeDriver< TibiArmNodeDriver >.

Definition at line 460 of file tibi_arm_node_driver_node.cpp.

void TibiArmNodeDriverNode::reconfigureNodeHook ( int level ) [protected, virtual]

specific node dynamic reconfigure

This function is called reconfigureHook()

Parameters:

level integer

Implements iri_base_driver::IriBaseNodeDriver< TibiArmNodeDriver >.

Definition at line 492 of file tibi_arm_node_driver_node.cpp.