franka_control::FrankaStateController Class Reference

Controller to publish the robot state as ROS topics. More...

#include <franka_state_controller.h>

Inheritance diagram for franka_control::FrankaStateController:

Public Member Functions
	FrankaStateController ()=default
	Creates an instance of a FrankaStateController. More...
bool	init (hardware_interface::RobotHW *robot_hardware, ros::NodeHandle &root_node_handle, ros::NodeHandle &controller_node_handle) override
	Initializes the controller with interfaces and publishers. More...
void	update (const ros::Time &time, const ros::Duration &period) override
	Reads the current robot state from the franka_hw::FrankaStateInterface and publishes it. More...
Public Member Functions inherited from controller_interface::MultiInterfaceController< franka_hw::FrankaStateInterface >
virtual bool	init (hardware_interface::RobotHW *, ros::NodeHandle &)
	MultiInterfaceController (bool allow_optional_interfaces=false)
virtual	~MultiInterfaceController ()
Public Member Functions inherited from controller_interface::ControllerBase
	ControllerBase ()
bool	isRunning ()
bool	isRunning ()
virtual void	starting (const ros::Time &)
virtual void	starting (const ros::Time &)
bool	startRequest (const ros::Time &time)
bool	startRequest (const ros::Time &time)
virtual void	stopping (const ros::Time &)
virtual void	stopping (const ros::Time &)
bool	stopRequest (const ros::Time &time)
bool	stopRequest (const ros::Time &time)
void	updateRequest (const ros::Time &time, const ros::Duration &period)
void	updateRequest (const ros::Time &time, const ros::Duration &period)
virtual	~ControllerBase ()

Private Member Functions
void	publishExternalWrench (const ros::Time &time)
void	publishFrankaStates (const ros::Time &time)
void	publishJointStates (const ros::Time &time)
void	publishTransforms (const ros::Time &time)

Private Attributes
std::string	arm_id_
std::unique_ptr< franka_hw::FrankaStateHandle >	franka_state_handle_ {}
franka_hw::FrankaStateInterface *	franka_state_interface_ {}
std::vector< std::string >	joint_names_
realtime_tools::RealtimePublisher< geometry_msgs::WrenchStamped >	publisher_external_wrench_
realtime_tools::RealtimePublisher< franka_msgs::FrankaState >	publisher_franka_states_
realtime_tools::RealtimePublisher< sensor_msgs::JointState >	publisher_joint_states_
realtime_tools::RealtimePublisher< sensor_msgs::JointState >	publisher_joint_states_desired_
realtime_tools::RealtimePublisher< tf2_msgs::TFMessage >	publisher_transforms_
franka::RobotState	robot_state_
uint64_t	sequence_number_ = 0
franka_hw::TriggerRate	trigger_publish_

Additional Inherited Members
Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources
Public Attributes inherited from controller_interface::ControllerBase
	CONSTRUCTED
	INITIALIZED
	RUNNING
enum controller_interface::ControllerBase:: { ... }	state_
Protected Member Functions inherited from controller_interface::MultiInterfaceController< franka_hw::FrankaStateInterface >
virtual bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources)
Static Protected Member Functions inherited from controller_interface::MultiInterfaceController< franka_hw::FrankaStateInterface >
static void	clearClaims (hardware_interface::RobotHW *robot_hw)
static void	extractInterfaceResources (hardware_interface::RobotHW *robot_hw_in, hardware_interface::RobotHW *robot_hw_out)
static bool	hasRequiredInterfaces (hardware_interface::RobotHW *robot_hw)
static void	populateClaimedResources (hardware_interface::RobotHW *robot_hw, ClaimedResources &claimed_resources)
Protected Attributes inherited from controller_interface::MultiInterfaceController< franka_hw::FrankaStateInterface >
bool	allow_optional_interfaces_
hardware_interface::RobotHW	robot_hw_ctrl_

Detailed Description

Controller to publish the robot state as ROS topics.

Definition at line 23 of file franka_state_controller.h.

Constructor & Destructor Documentation

franka_control::FrankaStateController::FrankaStateController ( )

default

Creates an instance of a FrankaStateController.

Member Function Documentation

bool franka_control::FrankaStateController::init ( hardware_interface::RobotHW *  robot_hardware, ros::NodeHandle &  root_node_handle, ros::NodeHandle &  controller_node_handle  )

overridevirtual

Initializes the controller with interfaces and publishers.

Parameters

[in]	robot_hardware	RobotHW instance to get a franka_hw::FrankaStateInterface from.
[in]	root_node_handle	Node handle in the controller_manager namespace.
[in]	controller_node_handle	Node handle in the controller namespace.

Reimplemented from controller_interface::MultiInterfaceController< franka_hw::FrankaStateInterface >.

Definition at line 138 of file franka_state_controller.cpp.

void franka_control::FrankaStateController::publishExternalWrench ( const ros::Time &  time )

private

Definition at line 445 of file franka_state_controller.cpp.

void franka_control::FrankaStateController::publishFrankaStates ( const ros::Time &  time )

private

Definition at line 239 of file franka_state_controller.cpp.

void franka_control::FrankaStateController::publishJointStates ( const ros::Time &  time )

private

Definition at line 397 of file franka_state_controller.cpp.

void franka_control::FrankaStateController::publishTransforms ( const ros::Time &  time )

private

Definition at line 430 of file franka_state_controller.cpp.

void franka_control::FrankaStateController::update ( const ros::Time &  time, const ros::Duration &  period  )

overridevirtual

Reads the current robot state from the franka_hw::FrankaStateInterface and publishes it.

Parameters

[in]	time	Current ROS time.
[in]	period	Time since the last update.

Implements controller_interface::ControllerBase.

Definition at line 228 of file franka_state_controller.cpp.

Member Data Documentation

std::string franka_control::FrankaStateController::arm_id_

private

Definition at line 56 of file franka_state_controller.h.

std::unique_ptr<franka_hw::FrankaStateHandle> franka_control::FrankaStateController::franka_state_handle_ {}

private

Definition at line 59 of file franka_state_controller.h.

franka_hw::FrankaStateInterface* franka_control::FrankaStateController::franka_state_interface_ {}

private

Definition at line 58 of file franka_state_controller.h.

std::vector<std::string> franka_control::FrankaStateController::joint_names_

private

Definition at line 69 of file franka_state_controller.h.

realtime_tools::RealtimePublisher<geometry_msgs::WrenchStamped> franka_control::FrankaStateController::publisher_external_wrench_

private

Definition at line 65 of file franka_state_controller.h.

realtime_tools::RealtimePublisher<franka_msgs::FrankaState> franka_control::FrankaStateController::publisher_franka_states_

private

Definition at line 62 of file franka_state_controller.h.

realtime_tools::RealtimePublisher<sensor_msgs::JointState> franka_control::FrankaStateController::publisher_joint_states_

private

Definition at line 63 of file franka_state_controller.h.

realtime_tools::RealtimePublisher<sensor_msgs::JointState> franka_control::FrankaStateController::publisher_joint_states_desired_

private

Definition at line 64 of file franka_state_controller.h.

realtime_tools::RealtimePublisher<tf2_msgs::TFMessage> franka_control::FrankaStateController::publisher_transforms_

private

Definition at line 61 of file franka_state_controller.h.

franka::RobotState franka_control::FrankaStateController::robot_state_

private

Definition at line 67 of file franka_state_controller.h.

uint64_t franka_control::FrankaStateController::sequence_number_ = 0

private

Definition at line 68 of file franka_state_controller.h.

franka_hw::TriggerRate franka_control::FrankaStateController::trigger_publish_

private

Definition at line 66 of file franka_state_controller.h.

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

• franka_state_controller.h
• franka_state_controller.cpp