Public Types | Public Member Functions | Private Member Functions | Private Attributes | List of all members
xpp::UrdfVisualizer Class Reference

Publishes RVIZ transforms used to visualize a robot's URDF. More...

#include <urdf_visualizer.h>

Public Types

using URDFName = std::string
using UrdfnameToJointAngle = std::map< URDFName, double >

Public Member Functions

 UrdfVisualizer (const std::string &urdf_name, const std::vector< URDFName > &joint_names_in_urdf, const URDFName &base_link_in_urdf, const std::string &rviz_fixed_frame, const std::string &state_topic, const std::string &tf_prefix="")
 Constructs the visualizer for a specific URDF urdf_name. More...
virtual ~UrdfVisualizer ()=default

Private Member Functions

UrdfnameToJointAngle AssignAngleToURDFJointName (const sensor_msgs::JointState &msg) const
geometry_msgs::TransformStamped GetBaseFromRos (const ::ros::Time &stamp, const geometry_msgs::Pose &msg) const
void StateCallback (const xpp_msgs::RobotStateJoint &msg)

Private Attributes

URDFName base_joint_in_urdf_
std::vector< URDFNamejoint_names_in_urdf_
std::shared_ptr< robot_state_publisher::RobotStatePublisherrobot_publisher
std::string rviz_fixed_frame_
std::string state_msg_name_
ros::Subscriber state_sub_des_
tf::TransformBroadcaster tf_broadcaster_
std::string tf_prefix_

Detailed Description

Publishes RVIZ transforms used to visualize a robot's URDF.

This class is responsible for converting an xpp_msgs::RobotStateJoint robot message and publishing the corresponding RVIZ transforms.

Definition at line 60 of file urdf_visualizer.h.

Member Typedef Documentation

◆ URDFName

using xpp::UrdfVisualizer::URDFName = std::string

Definition at line 62 of file urdf_visualizer.h.

◆ UrdfnameToJointAngle

Definition at line 63 of file urdf_visualizer.h.

Constructor & Destructor Documentation

◆ UrdfVisualizer()

xpp::UrdfVisualizer::UrdfVisualizer ( const std::string &  urdf_name,
const std::vector< URDFName > &  joint_names_in_urdf,
const URDFName base_link_in_urdf,
const std::string &  rviz_fixed_frame,
const std::string &  state_topic,
const std::string &  tf_prefix = "" 

Constructs the visualizer for a specific URDF urdf_name.

urdf_nameRobot description variable on the ROS parameter server.
joint_names_in_urdfThe names of the joints in the URDF file ordered in the same way as in the xpp convention (see inverse kinematics).
base_link_in_urdfThe name of the base_link in the URDF file.
rviz_fixed_frameThe Fixed Frame name specified in RVIZ.
state_topicThe topic of the xpp_msgs::RobotStateJoint ROS message to subscribe to.
tf_prefixIn case multiple URDFS are loaded, each can be given a unique tf_prefix in RIVZ to visualize different states simultaneously.

Definition at line 34 of file

◆ ~UrdfVisualizer()

virtual xpp::UrdfVisualizer::~UrdfVisualizer ( )

Member Function Documentation

◆ AssignAngleToURDFJointName()

UrdfVisualizer::UrdfnameToJointAngle xpp::UrdfVisualizer::AssignAngleToURDFJointName ( const sensor_msgs::JointState &  msg) const

Definition at line 78 of file

◆ GetBaseFromRos()

geometry_msgs::TransformStamped xpp::UrdfVisualizer::GetBaseFromRos ( const ::ros::Time stamp,
const geometry_msgs::Pose msg 
) const

Definition at line 89 of file

◆ StateCallback()

void xpp::UrdfVisualizer::StateCallback ( const xpp_msgs::RobotStateJoint &  msg)

Definition at line 67 of file

Member Data Documentation

◆ base_joint_in_urdf_

URDFName xpp::UrdfVisualizer::base_joint_in_urdf_

Definition at line 98 of file urdf_visualizer.h.

◆ joint_names_in_urdf_

std::vector<URDFName> xpp::UrdfVisualizer::joint_names_in_urdf_

Definition at line 97 of file urdf_visualizer.h.

◆ robot_publisher

std::shared_ptr<robot_state_publisher::RobotStatePublisher> xpp::UrdfVisualizer::robot_publisher

Definition at line 89 of file urdf_visualizer.h.

◆ rviz_fixed_frame_

std::string xpp::UrdfVisualizer::rviz_fixed_frame_

Definition at line 101 of file urdf_visualizer.h.

◆ state_msg_name_

std::string xpp::UrdfVisualizer::state_msg_name_

Definition at line 100 of file urdf_visualizer.h.

◆ state_sub_des_

ros::Subscriber xpp::UrdfVisualizer::state_sub_des_

Definition at line 87 of file urdf_visualizer.h.

◆ tf_broadcaster_

tf::TransformBroadcaster xpp::UrdfVisualizer::tf_broadcaster_

Definition at line 88 of file urdf_visualizer.h.

◆ tf_prefix_

std::string xpp::UrdfVisualizer::tf_prefix_

Definition at line 102 of file urdf_visualizer.h.

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

Author(s): Alexander W. Winkler
autogenerated on Thu Dec 10 2020 03:13:01