prbt_hardware_support::JointStatesPublisherMock Class Reference

Asynchronously publishes predefined messages on the /joint_states topic with rate ~100Hz. More...

#include <joint_states_publisher_mock.h>

Public Member Functions
sensor_msgs::JointStateConstPtr	getNextMessage ()
	Obtain the message that is published next. More...
	JointStatesPublisherMock ()
void	startAsync (bool move=false)
	Start a new thread publishing joint states. More...
void	terminate ()
	~JointStatesPublisherMock ()

Private Member Functions
void	start (bool positions_fixed)

Private Attributes
ros::Publisher	joint_states_pub_
sensor_msgs::JointState	msg_
std::mutex	msg_mutex_
ros::NodeHandle	nh_
std::atomic_bool	terminate_
std::thread	thread_

Detailed Description

Asynchronously publishes predefined messages on the /joint_states topic with rate ~100Hz.

Definition at line 34 of file joint_states_publisher_mock.h.

Constructor & Destructor Documentation

prbt_hardware_support::JointStatesPublisherMock::JointStatesPublisherMock

(

)

Definition at line 33 of file joint_states_publisher_mock.cpp.

prbt_hardware_support::JointStatesPublisherMock::~JointStatesPublisherMock

(

)

Definition at line 40 of file joint_states_publisher_mock.cpp.

Member Function Documentation

sensor_msgs::JointStateConstPtr prbt_hardware_support::JointStatesPublisherMock::getNextMessage

(

)

Obtain the message that is published next.

Definition at line 60 of file joint_states_publisher_mock.cpp.

void prbt_hardware_support::JointStatesPublisherMock::start ( bool  positions_fixed )

private

Definition at line 67 of file joint_states_publisher_mock.cpp.

void prbt_hardware_support::JointStatesPublisherMock::startAsync

(

bool

move = false

)

Start a new thread publishing joint states.

Parameters

move	If true, a movement is simulated, otherwise the positions do not change.

Definition at line 45 of file joint_states_publisher_mock.cpp.

void prbt_hardware_support::JointStatesPublisherMock::terminate

(

)

Definition at line 51 of file joint_states_publisher_mock.cpp.

Member Data Documentation

ros::Publisher prbt_hardware_support::JointStatesPublisherMock::joint_states_pub_

private

Definition at line 60 of file joint_states_publisher_mock.h.

sensor_msgs::JointState prbt_hardware_support::JointStatesPublisherMock::msg_

private

Definition at line 64 of file joint_states_publisher_mock.h.

std::mutex prbt_hardware_support::JointStatesPublisherMock::msg_mutex_

private

Definition at line 63 of file joint_states_publisher_mock.h.

ros::NodeHandle prbt_hardware_support::JointStatesPublisherMock::nh_

private

Definition at line 59 of file joint_states_publisher_mock.h.

std::atomic_bool prbt_hardware_support::JointStatesPublisherMock::terminate_

private

Definition at line 62 of file joint_states_publisher_mock.h.

std::thread prbt_hardware_support::JointStatesPublisherMock::thread_

private

Definition at line 61 of file joint_states_publisher_mock.h.

---

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

• joint_states_publisher_mock.h
• joint_states_publisher_mock.cpp