Program Listing for File joint_state_broadcaster.hpp
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// Copyright 2017 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef JOINT_STATE_BROADCASTER__JOINT_STATE_BROADCASTER_HPP_
#define JOINT_STATE_BROADCASTER__JOINT_STATE_BROADCASTER_HPP_
#include <memory>
#include <string>
#include <unordered_map>
#include <vector>
#include "control_msgs/msg/dynamic_joint_state.hpp"
#include "controller_interface/controller_interface.hpp"
#include "joint_state_broadcaster/visibility_control.h"
// auto-generated by generate_parameter_library
#include "joint_state_broadcaster_parameters.hpp"
#include "rclcpp_lifecycle/lifecycle_publisher.hpp"
#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
#include "realtime_tools/realtime_publisher.h"
#include "sensor_msgs/msg/joint_state.hpp"
namespace joint_state_broadcaster
{
class JointStateBroadcaster : public controller_interface::ControllerInterface
{
public:
JOINT_STATE_BROADCASTER_PUBLIC
JointStateBroadcaster();
JOINT_STATE_BROADCASTER_PUBLIC
controller_interface::InterfaceConfiguration command_interface_configuration() const override;
JOINT_STATE_BROADCASTER_PUBLIC
controller_interface::InterfaceConfiguration state_interface_configuration() const override;
JOINT_STATE_BROADCASTER_PUBLIC
controller_interface::return_type update(
const rclcpp::Time & time, const rclcpp::Duration & period) override;
JOINT_STATE_BROADCASTER_PUBLIC
controller_interface::CallbackReturn on_init() override;
JOINT_STATE_BROADCASTER_PUBLIC
controller_interface::CallbackReturn on_configure(
const rclcpp_lifecycle::State & previous_state) override;
JOINT_STATE_BROADCASTER_PUBLIC
controller_interface::CallbackReturn on_activate(
const rclcpp_lifecycle::State & previous_state) override;
JOINT_STATE_BROADCASTER_PUBLIC
controller_interface::CallbackReturn on_deactivate(
const rclcpp_lifecycle::State & previous_state) override;
protected:
bool init_joint_data();
void init_joint_state_msg();
void init_dynamic_joint_state_msg();
bool use_all_available_interfaces() const;
protected:
// Optional parameters
std::shared_ptr<ParamListener> param_listener_;
Params params_;
std::unordered_map<std::string, std::string> map_interface_to_joint_state_;
// For the JointState message,
// we store the name of joints with compatible interfaces
std::vector<std::string> joint_names_;
std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::JointState>> joint_state_publisher_;
std::shared_ptr<realtime_tools::RealtimePublisher<sensor_msgs::msg::JointState>>
realtime_joint_state_publisher_;
// For the DynamicJointState format, we use a map to buffer values in for easier lookup
// This allows to preserve whatever order or names/interfaces were initialized.
std::unordered_map<std::string, std::unordered_map<std::string, double>> name_if_value_mapping_;
std::shared_ptr<rclcpp::Publisher<control_msgs::msg::DynamicJointState>>
dynamic_joint_state_publisher_;
std::shared_ptr<realtime_tools::RealtimePublisher<control_msgs::msg::DynamicJointState>>
realtime_dynamic_joint_state_publisher_;
};
} // namespace joint_state_broadcaster
#endif // JOINT_STATE_BROADCASTER__JOINT_STATE_BROADCASTER_HPP_