#include <force_torque_sensor_handle.h>

Inheritance diagram for force_torque_sensor::ForceTorqueSensorHandle:

Public Member Functions
bool	calculate_offset (bool apply_after_calculation, geometry_msgs::Wrench *new_offset)

	ForceTorqueSensorHandle (ros::NodeHandle &nh, hardware_interface::ForceTorqueSensorHW *sensor, std::string sensor_name, std::string output_frame)

	ForceTorqueSensorHandle (ros::NodeHandle &nh, std::string sensor_name, std::string output_frame)

void	init_sensor (std::string &msg, bool &success)

void	prepareNode (std::string output_frame)

bool	srvCallback_CalculateAverageMasurement (force_torque_sensor::CalculateAverageMasurement::Request &req, force_torque_sensor::CalculateAverageMasurement::Response &res)

bool	srvCallback_CalculateOffset (force_torque_sensor::CalculateSensorOffset::Request &req, force_torque_sensor::CalculateSensorOffset::Response &res)

bool	srvCallback_CalculateOffsetWithoutGravity (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)

bool	srvCallback_DetermineCoordinateSystem (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)

bool	srvCallback_Init (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)

bool	srvCallback_setSensorOffset (force_torque_sensor::SetSensorOffset::Request &req, force_torque_sensor::SetSensorOffset::Response &res)

bool	srvReadDiagnosticVoltages (force_torque_sensor::DiagnosticVoltages::Request &req, force_torque_sensor::DiagnosticVoltages::Response &res)

Public Member Functions inherited from hardware_interface::ForceTorqueSensorHandle
	ForceTorqueSensorHandle ()

	ForceTorqueSensorHandle (const std::string &name, const std::string &frame_id, const double force, const double torque)

	ForceTorqueSensorHandle (const std::string &name, const std::string &frame_id, double force, double torque)

const double *	getForce () const

std::string	getFrameId () const

std::string	getName () const

const double *	getTorque () const

Private Member Functions
void	filterFTData ()

geometry_msgs::Wrench	makeAverageMeasurement (uint number_of_measurements, double time_between_meas, std::string frame_id="")

void	pullFTData (const ros::TimerEvent &event)

void	reconfigureCalibrationRequest (force_torque_sensor::CalibrationConfig &config, uint32_t level)

bool	transform_wrench (std::string goal_frame, std::string source_frame, geometry_msgs::Wrench wrench, geometry_msgs::Wrench &transformed)

void	updateFTData (const ros::TimerEvent &event)

bool	updateTransform (std::string goal_frame, std::string source_frame)

Private Attributes
bool	apply_offset

force_torque_sensor::CalibrationParameters	calibration_params_

force_torque_sensor::CoordinateSystemCalibrationParameters	CS_params_

geometry_msgs::WrenchStamped	filtered_data_input_

std::timed_mutex	ft_data_lock_

ros::Timer	ftPullTimer_

force_torque_sensor::FTSConfigurationParameters	FTS_params_

ros::Timer	ftUpdateTimer_

geometry_msgs::WrenchStamped	gravity_compensated_force

realtime_tools::RealtimePublisher< geometry_msgs::WrenchStamped > *	gravity_compensated_pub_

filters::FilterBase< geometry_msgs::WrenchStamped > *	gravity_compensator_ = new iirob_filters::GravityCompensator<geometry_msgs::WrenchStamped>()

iirob_filters::GravityCompensationParameters	gravity_params_

force_torque_sensor::HWCommunicationConfigurationParameters	HWComm_params_

double	interface_force_ [3]

double	interface_torque_ [3]

filters::FilterBase< geometry_msgs::WrenchStamped > *	low_pass_filter_ = new iirob_filters::LowPassFilter<geometry_msgs::WrenchStamped>()

geometry_msgs::WrenchStamped	low_pass_filtered_data

realtime_tools::RealtimePublisher< geometry_msgs::WrenchStamped > *	low_pass_pub_

bool	m_isCalibrated

bool	m_isInitialized

filters::FilterBase< geometry_msgs::WrenchStamped > *	moving_mean_filter_ = new iirob_filters::MovingMeanFilter<geometry_msgs::WrenchStamped>()

geometry_msgs::WrenchStamped	moving_mean_filtered_data

realtime_tools::RealtimePublisher< geometry_msgs::WrenchStamped > *	moving_mean_pub_

ros::NodeHandle	nh_

force_torque_sensor::NodeConfigurationParameters	node_params_

geometry_msgs::Wrench	offset_

bool	ongoing_offset_calculation

geometry_msgs::WrenchStamped	output_data

realtime_tools::RealtimePublisher< geometry_msgs::WrenchStamped > *	output_data_pub_

geometry_msgs::TransformStamped	output_transform_

hardware_interface::ForceTorqueSensorHW *	p_Ftc

tf2_ros::Buffer *	p_tfBuffer

tf2_ros::TransformListener *	p_tfListener

geometry_msgs::WrenchStamped	prefiltered_data_

force_torque_sensor::PublishConfigurationParameters	pub_params_

dynamic_reconfigure::Server< force_torque_sensor::CalibrationConfig >	reconfigCalibrationSrv_

boost::shared_ptr< hardware_interface::ForceTorqueSensorHW >	sensor_

geometry_msgs::WrenchStamped	sensor_data

realtime_tools::RealtimePublisher< geometry_msgs::WrenchStamped > *	sensor_data_pub_

std::string	sensor_frame_

boost::shared_ptr< pluginlib::ClassLoader< hardware_interface::ForceTorqueSensorHW > >	sensor_loader_

ros::ServiceServer	srvServer_CalculateAverageMasurement_

ros::ServiceServer	srvServer_CalculateOffset_

ros::ServiceServer	srvServer_DetermineCoordianteSystem_

ros::ServiceServer	srvServer_Init_

ros::ServiceServer	srvServer_ReCalibrate

ros::ServiceServer	srvServer_SetSensorOffset

ros::ServiceServer	srvServer_Temp_

filters::FilterBase< geometry_msgs::WrenchStamped > *	threshold_filter_ = new iirob_filters::ThresholdFilter<geometry_msgs::WrenchStamped>()

geometry_msgs::WrenchStamped	threshold_filtered_force

realtime_tools::RealtimePublisher< geometry_msgs::WrenchStamped > *	threshold_filtered_pub_

std::string	transform_frame_

geometry_msgs::WrenchStamped	transformed_data

realtime_tools::RealtimePublisher< geometry_msgs::WrenchStamped > *	transformed_data_pub_

bool	useGravityCompensator =false

bool	useLowPassFilter = false

bool	useMovingMean = false

bool	useThresholdFilter =false

Detailed Description

Definition at line 99 of file force_torque_sensor_handle.h.

Constructor & Destructor Documentation

ForceTorqueSensorHandle::ForceTorqueSensorHandle	(	ros::NodeHandle &	nh,
		hardware_interface::ForceTorqueSensorHW *	sensor,
		std::string	sensor_name,
		std::string	output_frame
	)

Definition at line 48 of file force_torque_sensor_handle.cpp.

ForceTorqueSensorHandle::ForceTorqueSensorHandle	(	ros::NodeHandle &	nh,
		std::string	sensor_name,
		std::string	output_frame
	)

Definition at line 55 of file force_torque_sensor_handle.cpp.

Member Function Documentation

bool ForceTorqueSensorHandle::calculate_offset	(	bool	apply_after_calculation,
		geometry_msgs::Wrench *	new_offset
	)

Definition at line 373 of file force_torque_sensor_handle.cpp.

void ForceTorqueSensorHandle::filterFTData ( )

private

Definition at line 549 of file force_torque_sensor_handle.cpp.

void ForceTorqueSensorHandle::init_sensor	(	std::string &	msg,
		bool &	success
	)

Definition at line 207 of file force_torque_sensor_handle.cpp.

geometry_msgs::Wrench ForceTorqueSensorHandle::makeAverageMeasurement	(	uint	number_of_measurements,
		double	time_between_meas,
		std::string	frame_id = `""`
	)

private

Definition at line 394 of file force_torque_sensor_handle.cpp.

void ForceTorqueSensorHandle::prepareNode ( std::string output_frame )

Definition at line 85 of file force_torque_sensor_handle.cpp.

void ForceTorqueSensorHandle::pullFTData ( const ros::TimerEvent & event )

private

Definition at line 485 of file force_torque_sensor_handle.cpp.

void ForceTorqueSensorHandle::reconfigureCalibrationRequest	(	force_torque_sensor::CalibrationConfig &	config,
		uint32_t	level
	)

private

Definition at line 636 of file force_torque_sensor_handle.cpp.

bool ForceTorqueSensorHandle::srvCallback_CalculateAverageMasurement	(	force_torque_sensor::CalculateAverageMasurement::Request &	req,
		force_torque_sensor::CalculateAverageMasurement::Response &	res
	)

Definition at line 278 of file force_torque_sensor_handle.cpp.

bool ForceTorqueSensorHandle::srvCallback_CalculateOffset	(	force_torque_sensor::CalculateSensorOffset::Request &	req,
		force_torque_sensor::CalculateSensorOffset::Response &	res
	)

Definition at line 295 of file force_torque_sensor_handle.cpp.

bool ForceTorqueSensorHandle::srvCallback_CalculateOffsetWithoutGravity	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

Definition at line 319 of file force_torque_sensor_handle.cpp.

bool ForceTorqueSensorHandle::srvCallback_DetermineCoordinateSystem	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

Definition at line 435 of file force_torque_sensor_handle.cpp.

bool ForceTorqueSensorHandle::srvCallback_Init	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

Definition at line 266 of file force_torque_sensor_handle.cpp.

bool ForceTorqueSensorHandle::srvCallback_setSensorOffset	(	force_torque_sensor::SetSensorOffset::Request &	req,
		force_torque_sensor::SetSensorOffset::Response &	res
	)

Definition at line 358 of file force_torque_sensor_handle.cpp.

bool ForceTorqueSensorHandle::srvReadDiagnosticVoltages	(	force_torque_sensor::DiagnosticVoltages::Request &	req,
		force_torque_sensor::DiagnosticVoltages::Response &	res
	)

Definition at line 477 of file force_torque_sensor_handle.cpp.

bool ForceTorqueSensorHandle::transform_wrench	(	std::string	goal_frame,
		std::string	source_frame,
		geometry_msgs::Wrench	wrench,
		geometry_msgs::Wrench &	transformed
	)

private

Definition at line 600 of file force_torque_sensor_handle.cpp.

void ForceTorqueSensorHandle::updateFTData ( const ros::TimerEvent & event )

private

Definition at line 641 of file force_torque_sensor_handle.cpp.

bool ForceTorqueSensorHandle::updateTransform	(	std::string	goal_frame,
		std::string	source_frame
	)

private

Definition at line 622 of file force_torque_sensor_handle.cpp.

Member Data Documentation

bool force_torque_sensor::ForceTorqueSensorHandle::apply_offset

private

Definition at line 175 of file force_torque_sensor_handle.h.

force_torque_sensor::CalibrationParameters force_torque_sensor::ForceTorqueSensorHandle::calibration_params_

private

Definition at line 140 of file force_torque_sensor_handle.h.

force_torque_sensor::CoordinateSystemCalibrationParameters force_torque_sensor::ForceTorqueSensorHandle::CS_params_

private

Definition at line 135 of file force_torque_sensor_handle.h.

geometry_msgs::WrenchStamped force_torque_sensor::ForceTorqueSensorHandle::filtered_data_input_

private

Definition at line 147 of file force_torque_sensor_handle.h.

std::timed_mutex force_torque_sensor::ForceTorqueSensorHandle::ft_data_lock_

private

Definition at line 195 of file force_torque_sensor_handle.h.

ros::Timer force_torque_sensor::ForceTorqueSensorHandle::ftPullTimer_

private

Definition at line 169 of file force_torque_sensor_handle.h.

force_torque_sensor::FTSConfigurationParameters force_torque_sensor::ForceTorqueSensorHandle::FTS_params_

private

Definition at line 137 of file force_torque_sensor_handle.h.

ros::Timer force_torque_sensor::ForceTorqueSensorHandle::ftUpdateTimer_

private

Definition at line 169 of file force_torque_sensor_handle.h.

geometry_msgs::WrenchStamped force_torque_sensor::ForceTorqueSensorHandle::gravity_compensated_force

private

Definition at line 148 of file force_torque_sensor_handle.h.

realtime_tools::RealtimePublisher<geometry_msgs::WrenchStamped>* force_torque_sensor::ForceTorqueSensorHandle::gravity_compensated_pub_

private

Definition at line 158 of file force_torque_sensor_handle.h.

filters::FilterBase<geometry_msgs::WrenchStamped>* force_torque_sensor::ForceTorqueSensorHandle::gravity_compensator_ = new iirob_filters::GravityCompensator<geometry_msgs::WrenchStamped>()

private

Definition at line 180 of file force_torque_sensor_handle.h.

iirob_filters::GravityCompensationParameters force_torque_sensor::ForceTorqueSensorHandle::gravity_params_

private

Definition at line 141 of file force_torque_sensor_handle.h.

force_torque_sensor::HWCommunicationConfigurationParameters force_torque_sensor::ForceTorqueSensorHandle::HWComm_params_

private

Definition at line 136 of file force_torque_sensor_handle.h.

double force_torque_sensor::ForceTorqueSensorHandle::interface_force_[3]

private

Definition at line 132 of file force_torque_sensor_handle.h.

double force_torque_sensor::ForceTorqueSensorHandle::interface_torque_[3]

private

Definition at line 133 of file force_torque_sensor_handle.h.

filters::FilterBase<geometry_msgs::WrenchStamped>* force_torque_sensor::ForceTorqueSensorHandle::low_pass_filter_ = new iirob_filters::LowPassFilter<geometry_msgs::WrenchStamped>()

private

Definition at line 178 of file force_torque_sensor_handle.h.

geometry_msgs::WrenchStamped force_torque_sensor::ForceTorqueSensorHandle::low_pass_filtered_data

private

Definition at line 148 of file force_torque_sensor_handle.h.

realtime_tools::RealtimePublisher<geometry_msgs::WrenchStamped> * force_torque_sensor::ForceTorqueSensorHandle::low_pass_pub_

private

Definition at line 158 of file force_torque_sensor_handle.h.

bool force_torque_sensor::ForceTorqueSensorHandle::m_isCalibrated

private

Definition at line 174 of file force_torque_sensor_handle.h.

bool force_torque_sensor::ForceTorqueSensorHandle::m_isInitialized

private

Definition at line 173 of file force_torque_sensor_handle.h.

filters::FilterBase<geometry_msgs::WrenchStamped>* force_torque_sensor::ForceTorqueSensorHandle::moving_mean_filter_ = new iirob_filters::MovingMeanFilter<geometry_msgs::WrenchStamped>()

private

Definition at line 177 of file force_torque_sensor_handle.h.

geometry_msgs::WrenchStamped force_torque_sensor::ForceTorqueSensorHandle::moving_mean_filtered_data

private

Definition at line 148 of file force_torque_sensor_handle.h.

realtime_tools::RealtimePublisher<geometry_msgs::WrenchStamped> * force_torque_sensor::ForceTorqueSensorHandle::moving_mean_pub_

private

Definition at line 158 of file force_torque_sensor_handle.h.

ros::NodeHandle force_torque_sensor::ForceTorqueSensorHandle::nh_

private

Definition at line 152 of file force_torque_sensor_handle.h.

force_torque_sensor::NodeConfigurationParameters force_torque_sensor::ForceTorqueSensorHandle::node_params_

private

Definition at line 139 of file force_torque_sensor_handle.h.

geometry_msgs::Wrench force_torque_sensor::ForceTorqueSensorHandle::offset_

private

Definition at line 156 of file force_torque_sensor_handle.h.

bool force_torque_sensor::ForceTorqueSensorHandle::ongoing_offset_calculation

private

Definition at line 175 of file force_torque_sensor_handle.h.

geometry_msgs::WrenchStamped force_torque_sensor::ForceTorqueSensorHandle::output_data

private

Definition at line 148 of file force_torque_sensor_handle.h.

realtime_tools::RealtimePublisher<geometry_msgs::WrenchStamped> * force_torque_sensor::ForceTorqueSensorHandle::output_data_pub_

private

Definition at line 158 of file force_torque_sensor_handle.h.

geometry_msgs::TransformStamped force_torque_sensor::ForceTorqueSensorHandle::output_transform_

private

Definition at line 150 of file force_torque_sensor_handle.h.

hardware_interface::ForceTorqueSensorHW* force_torque_sensor::ForceTorqueSensorHandle::p_Ftc

private

Definition at line 155 of file force_torque_sensor_handle.h.

tf2_ros::Buffer* force_torque_sensor::ForceTorqueSensorHandle::p_tfBuffer

private

Definition at line 157 of file force_torque_sensor_handle.h.

tf2_ros::TransformListener* force_torque_sensor::ForceTorqueSensorHandle::p_tfListener

private

Definition at line 171 of file force_torque_sensor_handle.h.

geometry_msgs::WrenchStamped force_torque_sensor::ForceTorqueSensorHandle::prefiltered_data_

private

Definition at line 147 of file force_torque_sensor_handle.h.

force_torque_sensor::PublishConfigurationParameters force_torque_sensor::ForceTorqueSensorHandle::pub_params_

private

Definition at line 138 of file force_torque_sensor_handle.h.

dynamic_reconfigure::Server<force_torque_sensor::CalibrationConfig> force_torque_sensor::ForceTorqueSensorHandle::reconfigCalibrationSrv_

private

Definition at line 188 of file force_torque_sensor_handle.h.

boost::shared_ptr<hardware_interface::ForceTorqueSensorHW> force_torque_sensor::ForceTorqueSensorHandle::sensor_

private

Definition at line 193 of file force_torque_sensor_handle.h.

geometry_msgs::WrenchStamped force_torque_sensor::ForceTorqueSensorHandle::sensor_data

private

Definition at line 148 of file force_torque_sensor_handle.h.

realtime_tools::RealtimePublisher<geometry_msgs::WrenchStamped> * force_torque_sensor::ForceTorqueSensorHandle::sensor_data_pub_

private

Definition at line 158 of file force_torque_sensor_handle.h.

std::string force_torque_sensor::ForceTorqueSensorHandle::sensor_frame_

private

Definition at line 144 of file force_torque_sensor_handle.h.

boost::shared_ptr<pluginlib::ClassLoader<hardware_interface::ForceTorqueSensorHW> > force_torque_sensor::ForceTorqueSensorHandle::sensor_loader_

private

Definition at line 192 of file force_torque_sensor_handle.h.

ros::ServiceServer force_torque_sensor::ForceTorqueSensorHandle::srvServer_CalculateAverageMasurement_

private

Definition at line 162 of file force_torque_sensor_handle.h.

ros::ServiceServer force_torque_sensor::ForceTorqueSensorHandle::srvServer_CalculateOffset_

private

Definition at line 163 of file force_torque_sensor_handle.h.

ros::ServiceServer force_torque_sensor::ForceTorqueSensorHandle::srvServer_DetermineCoordianteSystem_

private

Definition at line 164 of file force_torque_sensor_handle.h.

ros::ServiceServer force_torque_sensor::ForceTorqueSensorHandle::srvServer_Init_

private

Definition at line 161 of file force_torque_sensor_handle.h.

ros::ServiceServer force_torque_sensor::ForceTorqueSensorHandle::srvServer_ReCalibrate

private

Definition at line 166 of file force_torque_sensor_handle.h.

ros::ServiceServer force_torque_sensor::ForceTorqueSensorHandle::srvServer_SetSensorOffset

private

Definition at line 167 of file force_torque_sensor_handle.h.

ros::ServiceServer force_torque_sensor::ForceTorqueSensorHandle::srvServer_Temp_

private

Definition at line 165 of file force_torque_sensor_handle.h.

filters::FilterBase<geometry_msgs::WrenchStamped>* force_torque_sensor::ForceTorqueSensorHandle::threshold_filter_ = new iirob_filters::ThresholdFilter<geometry_msgs::WrenchStamped>()

private

Definition at line 179 of file force_torque_sensor_handle.h.

geometry_msgs::WrenchStamped force_torque_sensor::ForceTorqueSensorHandle::threshold_filtered_force

private

Definition at line 148 of file force_torque_sensor_handle.h.

realtime_tools::RealtimePublisher<geometry_msgs::WrenchStamped> * force_torque_sensor::ForceTorqueSensorHandle::threshold_filtered_pub_

private

Definition at line 158 of file force_torque_sensor_handle.h.

std::string force_torque_sensor::ForceTorqueSensorHandle::transform_frame_

private

Definition at line 143 of file force_torque_sensor_handle.h.

geometry_msgs::WrenchStamped force_torque_sensor::ForceTorqueSensorHandle::transformed_data