Public Member Functions
void	changeMarkerColor (double r, double g, double b, bool set_pose=false, geometry_msgs::Pose pose=geometry_msgs::Pose())
void	createArmMarker ()
void	createArmMenu ()
void	createGripperMarker ()
void	createJointMarker (const string joint_name, const string link_name)
void	createJointMarkers ()
void	createJointMenu (const string joint_name)
void	createJointMenus ()
void	createJointPublishers ()
void	getTransformedPose (const string &source_frame, const geometry_msgs::Pose &source_pose, const string &target_frame, geometry_msgs::Pose &target_pose, const ros::Time &time)
void	immediateCb (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	processArmFeedback (const InteractiveMarkerFeedbackConstPtr &feedback)
void	processCommand (const actionlib::SimpleClientGoalState &state, const simple_arm_server::MoveArmResultConstPtr &result, const InteractiveMarkerFeedbackConstPtr &feedback)
void	processJointFeedback (const InteractiveMarkerFeedbackConstPtr &feedback)
void	relaxAllCb (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	relaxCb (const std::string joint_name, const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	resetMarker ()
void	resetPoseCb (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	sendCommandCb (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
bool	sendGripperCommand (const InteractiveMarkerFeedbackConstPtr &feedback)
bool	sendTrajectoryCommand (const InteractiveMarkerFeedbackConstPtr &feedback)
void	switchToArmControlCb (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	switchToJointControlCb (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
	TurtlebotArmMarkerServer ()
Private Attributes
MenuHandler	arm_menu_handler
ros::Timer	arm_timer
actionlib::SimpleActionClient < simple_arm_server::MoveArmAction >	client
double	gripper_box_offset_x
double	gripper_box_offset_y
double	gripper_box_offset_z
double	gripper_marker_offset_x
double	gripper_marker_offset_y
double	gripper_marker_offset_z
bool	immediate_commands
bool	in_move
map< std::string, ros::Publisher >	joint_command_publishers
map< std::string, MenuHandler >	joint_menu_handlers
map< std::string, ros::ServiceClient >	joint_relax_clients
vector< string >	joints
vector< string >	links
double	move_time
ros::NodeHandle	nh
string	root_link
interactive_markers::InteractiveMarkerServer	server
tf::TransformListener	tf_listener
string	tip_link

Detailed Description

Definition at line 54 of file turtlebot_arm_marker_server.cpp.

Constructor & Destructor Documentation

TurtlebotArmMarkerServer::TurtlebotArmMarkerServer ( ) [inline]

Definition at line 93 of file turtlebot_arm_marker_server.cpp.

Member Function Documentation

void TurtlebotArmMarkerServer::changeMarkerColor	(	double	r,
		double	g,
		double	b,
		bool	set_pose = `false`,
		geometry_msgs::Pose	pose = `geometry_msgs::Pose()`
	)		`[inline]`

Definition at line 195 of file turtlebot_arm_marker_server.cpp.

void TurtlebotArmMarkerServer::createArmMarker ( ) [inline]

Definition at line 316 of file turtlebot_arm_marker_server.cpp.

void TurtlebotArmMarkerServer::createArmMenu ( ) [inline]

Definition at line 460 of file turtlebot_arm_marker_server.cpp.

void TurtlebotArmMarkerServer::createGripperMarker ( ) [inline]

Definition at line 382 of file turtlebot_arm_marker_server.cpp.

void TurtlebotArmMarkerServer::createJointMarker	(	const string	joint_name,
		const string	link_name
	)		`[inline]`

Definition at line 438 of file turtlebot_arm_marker_server.cpp.

void TurtlebotArmMarkerServer::createJointMarkers ( ) [inline]

Definition at line 430 of file turtlebot_arm_marker_server.cpp.

void TurtlebotArmMarkerServer::createJointMenu ( const string joint_name ) [inline]

Definition at line 489 of file turtlebot_arm_marker_server.cpp.

void TurtlebotArmMarkerServer::createJointMenus ( ) [inline]

Definition at line 481 of file turtlebot_arm_marker_server.cpp.

void TurtlebotArmMarkerServer::createJointPublishers ( ) [inline]

Definition at line 163 of file turtlebot_arm_marker_server.cpp.

void TurtlebotArmMarkerServer::getTransformedPose	(	const string &	source_frame,
		const geometry_msgs::Pose &	source_pose,
		const string &	target_frame,
		geometry_msgs::Pose &	target_pose,
		const ros::Time &	time
	)		`[inline]`

Definition at line 274 of file turtlebot_arm_marker_server.cpp.

void TurtlebotArmMarkerServer::immediateCb ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [inline]

Definition at line 527 of file turtlebot_arm_marker_server.cpp.

void TurtlebotArmMarkerServer::processArmFeedback ( const InteractiveMarkerFeedbackConstPtr & feedback ) [inline]

Definition at line 173 of file turtlebot_arm_marker_server.cpp.

void TurtlebotArmMarkerServer::processCommand	(	const actionlib::SimpleClientGoalState &	state,
		const simple_arm_server::MoveArmResultConstPtr &	result,
		const InteractiveMarkerFeedbackConstPtr &	feedback
	)		`[inline]`

Definition at line 213 of file turtlebot_arm_marker_server.cpp.

void TurtlebotArmMarkerServer::processJointFeedback ( const InteractiveMarkerFeedbackConstPtr & feedback ) [inline]

Definition at line 188 of file turtlebot_arm_marker_server.cpp.

void TurtlebotArmMarkerServer::relaxAllCb ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [inline]

Definition at line 507 of file turtlebot_arm_marker_server.cpp.

void TurtlebotArmMarkerServer::relaxCb	(	const std::string	joint_name,
		const visualization_msgs::InteractiveMarkerFeedbackConstPtr &	feedback
	)		`[inline]`