#include <RokubiminiSerial.hpp>

Inheritance diagram for rokubimini::serial::RokubiminiSerial:

Public Member Functions
void	createRosDiagnostics () override
	Adds ROS diagnostics related to the operation of rokubimini. More...

void	createRosPublishers () override
	Adds ROS publishers related to the device. More...

void	createRosServices () override
	Adds ROS services related to the device. More...

bool	deviceIsMissing () const override
	Checks if the device is missing. More...

bool	firmwareUpdateCallback (rokubimini_msgs::FirmwareUpdateSerial::Request &request, rokubimini_msgs::FirmwareUpdateSerial::Response &response)
	The callback for the firmware update ROS service. More...

bool	getForceTorqueSamplingRate (int &samplingRate) override
	Gets the force torque sampling rate of the device. More...

bool	getSerialNumber (unsigned int &serialNumber) override
	Gets the serial number of the device. More...

bool	init ()
	Initializes communication with a Rokubimini Serial device. More...

bool	loadConfig ()
	Loads the configuration of the device. More...

void	parseCommunicationMsgs ()
	Parses the incoming communication msgs from the device. More...

void	postSetupConfiguration () override
	Post-setup configuration hook. More...

void	preSetupConfiguration () override
	Post-setup configuration hook. More...

bool	printUserConfig ()
	Prints all the user configurable parameters. More...

void	publishConnectionStatusDiagnostics ()
	Publishes the Connection Status Diagnostics to the "/diagnostics" topic. More...

void	publishDataFlagsDiagnostics (const ros::TimerEvent &event)
	Publishes the Data Flags Diagnostics to the "/diagnostics" topic. More...

void	publishRosDiagnostics () override
	Publish ROS diagnostics related to the operation of rokubimini. More...

void	publishRosMessages () override
	Publishes ROS messages with data from the rokubimini device. More...

bool	resetWrenchCallback (rokubimini_msgs::ResetWrench::Request &request, rokubimini_msgs::ResetWrench::Response &response)
	The callback for the reset wrench ROS service. More...

	RokubiminiSerial ()=default
	Default constructor. More...

	RokubiminiSerial (const std::string &name, NodeHandlePtr nh)

bool	saveConfigParameter () override
	Saves the current configuration to the device. More...

bool	setAccelerationFilter (const unsigned int filter) override
	Sets an acceleration filter to the device. More...

bool	setAccelerationRange (const unsigned int range) override
	Sets an acceleration range to the device. More...

bool	setAngularRateFilter (const unsigned int filter) override
	Sets an angular rate filter to the device. More...

bool	setAngularRateRange (const unsigned int range) override
	Sets an angular rate range to the device. More...

bool	setConfigMode ()
	Sets the device in config mode. More...

bool	setForceTorqueFilter (const configuration::ForceTorqueFilter &filter) override
	Sets a force torque filter to the device. More...

bool	setForceTorqueOffset (const Eigen::Matrix< double, 6, 1 > &forceTorqueOffset) override
	Sets a force torque offset to the device. More...

bool	setHardwareReset ()
	Triggers a hardware reset of the sensor. More...

void	setImplPointer (const RokubiminiSerialImplPtr &implPtr)
	Sets a pointer to the implementation. More...

bool	setInitMode ()
	Triggers a software reset of the sensor bringing it to a known state. More...

bool	setPublishMode (double timeStep)
	Sets the publishing mode (synchronous or async) of the serial device. More...

bool	setRunMode ()
	Sets the device in run mode. More...

bool	setSensorCalibration (const calibration::SensorCalibration &sensorCalibration) override
	Sets a sensor calibration to the device. More...

bool	setSensorConfiguration (const configuration::SensorConfiguration &sensorConfiguration) override
	Sets a sensor configuration to the device. More...

void	shutdownWithCommunication () override
	Shuts down a Rokubimini Serial device before communication has been closed. More...

void	signalShutdown ()
	Signals shutdown for the ROS node. It's used if a firmware update was successful. More...

void	update ()
	Updates the internal Reading with new measurements and publishes them to ROS. More...

void	updateConnectionStatus (diagnostic_updater::DiagnosticStatusWrapper &stat)
	Updates the Connection Status of the device and adds it to the diagnostics status. More...

void	updateProcessReading () override
	Updates the RokubiminiSerial object with new measurements. More...

	~RokubiminiSerial () override=default

Public Member Functions inherited from rokubimini::Rokubimini
void	addDeviceDisconnectedCb (const DeviceDisconnectedCb &deviceDisconnectedCb, const int priority=0)

void	addDeviceReconnectedCb (const DeviceReconnectedCb &deviceReconnectedCb, const int priority=0)

void	addErrorCb (const ErrorCb &errorCb, const int priority=0)

void	addErrorRecoveredCb (const ErrorRecoveredCb &errorRecoveredCb, const int priority=0)

void	addFatalCb (const FatalCb &fatalCb, const int priority=0)

void	addFatalRecoveredCb (const FatalRecoveredCb &fatalRecoveredCb, const int priority=0)

void	addReadingCb (const ReadingCb &readingCb, const int priority=0)

void	clearGoalStateEnum ()

void	deviceDisconnectedCb ()

bool	deviceIsInErrorState ()

bool	deviceIsInFatalState ()

void	deviceReconnectedCb ()

void	errorCb ()

void	errorRecoveredCb ()

void	fatalCb ()

void	fatalRecoveredCb ()

configuration::Configuration &	getConfiguration ()

const configuration::Configuration &	getConfiguration () const

std::string	getName () const

std::string	getProductName () const

Reading	getReading () const

void	getReading (Reading &reading) const

Statusword	getStatusword () const

virtual void	load ()

	Rokubimini ()=default

	Rokubimini (const std::string &name, NodeHandlePtr nh)

void	setNodeHandle (const NodeHandlePtr &nh)

virtual void	shutdownWithoutCommunication ()

void	startupWithCommunication ()

void	startupWithoutCommunication ()

virtual	~Rokubimini ()=default

Protected Types
using	RosPublisherPtr = std::shared_ptr< ros::Publisher >

Protected Attributes
std::atomic< bool >	computeMeanWrenchFlag_ { false }
	The flag for enabling the computation of the mean of the wrench measurements. Used withing the "reset service" callback. More...

ros::ServiceServer	firmwareUpdateService_
	The service for firmware updates. More...

RokubiminiSerialImplPtr	implPtr_ { nullptr }
	The pointer to implementation. More...

std::recursive_mutex	meanWrenchOffsetMutex_
	The mutex for accessing the mean of the wrench measurements. Used for the "reset service" callback. More...

uint64_t	noFrameSyncCounter_ { 0 }
	The counter for measuring failed frame synchronizations. More...

bool	publishersSet_ = false
	Flag to check whether publishers are ready. More...

std::thread	publishingThread_
	The thread that publishes the sensor messages to ROS. More...

RosPublisherPtr	readingPublisher_
	The rokubimini_msgs::Reading publisher. More...

Eigen::Matrix< double, 6, Eigen::Dynamic >	resetServiceWrenchSamples_
	The wrench samples used by the "reset service" callback for calculating the mean wrench offset. More...

ros::ServiceServer	resetWrenchService_
	The service for resetting the sensor wrench measurements. More...

bool	rosDiagnosticsSet_ = false
	Flag to check whether ros diagnostics are ready. More...

RosPublisherPtr	temperaturePublisher_
	The sensor_msgs::Temperature publisher. More...

std::atomic< uint32_t >	wrenchMessageCount_ { 0 }
	The counter that is used for the computation of the mean of the wrench measurements. Used for the "reset service" callback. More...

RosPublisherPtr	wrenchPublisher_
	The sensor_msgs::Wrench publisher. More...

Protected Attributes inherited from rokubimini::Rokubimini
configuration::Configuration	configuration_

DiagnosticsUpdaterPtr	connectionStatusUpdater_

RosPublisherPtr	dataFlagsDiagnosticsPublisher_

TimerPtr	dataFlagsDiagnosticsTimer_

std::multimap< int, DeviceDisconnectedCb, std::greater< int > >	deviceDisconnectedCbs_

std::multimap< int, DeviceReconnectedCb, std::greater< int > >	deviceReconnectedCbs_

std::multimap< int, ErrorCb, std::greater< int > >	errorCbs_

std::multimap< int, ErrorRecoveredCb, std::greater< int > >	errorRecoveredCbs_

std::multimap< int, FatalCb, std::greater< int > >	fatalCbs_

std::multimap< int, FatalRecoveredCb, std::greater< int > >	fatalRecoveredCbs_

std::string	name_

NodeHandlePtr	nh_

std::string	productName_

Reading	reading_

std::multimap< int, ReadingCb, std::greater< int > >	readingCbs_

std::recursive_mutex	readingMutex_

Statusword	statusword_

std::atomic< bool >	statuswordRequested_

Static Protected Attributes
const static uint32_t	TOTAL_NUMBER_OF_WRENCH_MESSAGES = 50

Static Protected Attributes inherited from rokubimini::Rokubimini
static constexpr double	NAN_VALUE

Additional Inherited Members
Public Types inherited from rokubimini::Rokubimini
typedef std::function< void(void)>	AnonymousErrorCb

typedef std::function< void(const Reading &)>	AnonymousReadingCb

typedef std::function< void(const std::string &)>	DeviceDisconnectedCb

typedef std::function< void(const std::string &)>	DeviceReconnectedCb

typedef std::shared_ptr< diagnostic_updater::Updater >	DiagnosticsUpdaterPtr

typedef std::function< void(const std::string &)>	ErrorCb

typedef std::function< void(const std::string &)>	ErrorRecoveredCb

typedef std::function< void(const std::string &)>	FatalCb

typedef std::function< void(const std::string &)>	FatalRecoveredCb

typedef std::shared_ptr< ros::NodeHandle >	NodeHandlePtr

typedef std::function< void(const std::string &, const Reading &)>	ReadingCb

typedef std::shared_ptr< ros::Publisher >	RosPublisherPtr

typedef std::shared_ptr< ros::Timer >	TimerPtr

Protected Member Functions inherited from rokubimini::Rokubimini
void	setStatusword (Statusword &statusword)

Detailed Description

The Rokubimini Serial class.

Inherits from the Rokubimini class. It's the interface in the BRIDGE pattern used. It provides the API to be called by client code and is used for interfacing with the implementation class called RokubiminiSerialImpl.

Definition at line 27 of file RokubiminiSerial.hpp.

Member Typedef Documentation

◆ RosPublisherPtr

using rokubimini::serial::RokubiminiSerial::RosPublisherPtr = std::shared_ptr<ros::Publisher>

protected

Definition at line 471 of file RokubiminiSerial.hpp.

Constructor & Destructor Documentation

◆ RokubiminiSerial() [1/2]

rokubimini::serial::RokubiminiSerial::RokubiminiSerial ( )

default

Default constructor.

The default constructor of the RokubiminiSerial class.

◆ RokubiminiSerial() [2/2]

rokubimini::serial::RokubiminiSerial::RokubiminiSerial	(	const std::string &	name,
		NodeHandlePtr	nh
	)

inline

Definition at line 45 of file RokubiminiSerial.hpp.

◆ ~RokubiminiSerial()

rokubimini::serial::RokubiminiSerial::~RokubiminiSerial ( )

overridedefault

Member Function Documentation

◆ createRosDiagnostics()

void rokubimini::serial::RokubiminiSerial::createRosDiagnostics ( )

overridevirtual

Adds ROS diagnostics related to the operation of rokubimini.

Implements rokubimini::Rokubimini.

Definition at line 424 of file RokubiminiSerial.cpp.

◆ createRosPublishers()

void rokubimini::serial::RokubiminiSerial::createRosPublishers ( )

overridevirtual

Adds ROS publishers related to the device.

Implements rokubimini::Rokubimini.

Definition at line 223 of file RokubiminiSerial.cpp.

◆ createRosServices()

void rokubimini::serial::RokubiminiSerial::createRosServices ( )

overridevirtual

Adds ROS services related to the device.

Implements rokubimini::Rokubimini.

Definition at line 412 of file RokubiminiSerial.cpp.

◆ deviceIsMissing()

bool rokubimini::serial::RokubiminiSerial::deviceIsMissing ( ) const

overridevirtual

Checks if the device is missing.

Implements rokubimini::Rokubimini.

Definition at line 120 of file RokubiminiSerial.cpp.

◆ firmwareUpdateCallback()

bool rokubimini::serial::RokubiminiSerial::firmwareUpdateCallback	(	rokubimini_msgs::FirmwareUpdateSerial::Request &	request,
		rokubimini_msgs::FirmwareUpdateSerial::Response &	response
	)

The callback for the firmware update ROS service.

Parameters

request	The request of the ROS service.
response	The response of the ROS service.

Returns: True always.

Definition at line 293 of file RokubiminiSerial.cpp.

◆ getForceTorqueSamplingRate()

bool rokubimini::serial::RokubiminiSerial::getForceTorqueSamplingRate ( int & samplingRate )

overridevirtual

Gets the force torque sampling rate of the device.

Parameters

samplingRate The force torque sampling rate to be fetched.

Returns: True if the force torque sampling rate was successfully fetched.

Implements rokubimini::Rokubimini.

Definition at line 130 of file RokubiminiSerial.cpp.

◆ getSerialNumber()

bool rokubimini::serial::RokubiminiSerial::getSerialNumber ( unsigned int & serialNumber )

overridevirtual

Gets the serial number of the device.

Parameters

serialNumber The serial number to be fetched.

Returns: True if the serial number was successfully fetched.

Implements rokubimini::Rokubimini.

Definition at line 125 of file RokubiminiSerial.cpp.

◆ init()

bool rokubimini::serial::RokubiminiSerial::init ( )

Initializes communication with a Rokubimini Serial device.

This method is called by the SerialBusManager to establish communication with the device.

Definition at line 68 of file RokubiminiSerial.cpp.

◆ loadConfig()

bool rokubimini::serial::RokubiminiSerial::loadConfig ( )

Loads the configuration of the device.

Returns: True if the operation was successful.

Definition at line 200 of file RokubiminiSerial.cpp.

◆ parseCommunicationMsgs()

void rokubimini::serial::RokubiminiSerial::parseCommunicationMsgs ( )

Parses the incoming communication msgs from the device.

Definition at line 38 of file RokubiminiSerial.cpp.

◆ postSetupConfiguration()

void rokubimini::serial::RokubiminiSerial::postSetupConfiguration ( )

overridevirtual

Post-setup configuration hook.

Implements rokubimini::Rokubimini.

Definition at line 12 of file RokubiminiSerial.cpp.

◆ preSetupConfiguration()

void rokubimini::serial::RokubiminiSerial::preSetupConfiguration ( )

overridevirtual

Post-setup configuration hook.

Implements rokubimini::Rokubimini.

Definition at line 33 of file RokubiminiSerial.cpp.

◆ printUserConfig()

bool rokubimini::serial::RokubiminiSerial::printUserConfig ( )

Prints all the user configurable parameters.

Returns: True if the operation was successful.

Definition at line 205 of file RokubiminiSerial.cpp.

◆ publishConnectionStatusDiagnostics()

void rokubimini::serial::RokubiminiSerial::publishConnectionStatusDiagnostics ( )

Publishes the Connection Status Diagnostics to the "/diagnostics" topic.

Definition at line 442 of file RokubiminiSerial.cpp.

◆ publishDataFlagsDiagnostics()

void rokubimini::serial::RokubiminiSerial::publishDataFlagsDiagnostics ( const ros::TimerEvent & event )

Publishes the Data Flags Diagnostics to the "/diagnostics" topic.

Definition at line 447 of file RokubiminiSerial.cpp.

◆ publishRosDiagnostics()

void rokubimini::serial::RokubiminiSerial::publishRosDiagnostics ( )

overridevirtual

Publish ROS diagnostics related to the operation of rokubimini.

Implements rokubimini::Rokubimini.

Definition at line 437 of file RokubiminiSerial.cpp.

◆ publishRosMessages()

void rokubimini::serial::RokubiminiSerial::publishRosMessages ( )

overridevirtual

Publishes ROS messages with data from the rokubimini device.

Implements rokubimini::Rokubimini.

Definition at line 238 of file RokubiminiSerial.cpp.

◆ resetWrenchCallback()

bool rokubimini::serial::RokubiminiSerial::resetWrenchCallback	(	rokubimini_msgs::ResetWrench::Request &	request,
		rokubimini_msgs::ResetWrench::Response &	response
	)

The callback for the reset wrench ROS service.

Parameters

request	The request of the ROS service.
response	The response of the ROS service.

Returns: True always.

Definition at line 306 of file RokubiminiSerial.cpp.

◆ saveConfigParameter()

bool rokubimini::serial::RokubiminiSerial::saveConfigParameter ( )

overridevirtual

Saves the current configuration to the device.

Returns: True if the configuration was successfully saved in the device.

Implements rokubimini::Rokubimini.

Definition at line 195 of file RokubiminiSerial.cpp.

◆ setAccelerationFilter()

bool rokubimini::serial::RokubiminiSerial::setAccelerationFilter ( const unsigned int filter )

overridevirtual

Sets an acceleration filter to the device.

Parameters

filter The filter to be set.

Returns: True if the acceleration torque filter was successfully set.

Implements rokubimini::Rokubimini.

Definition at line 140 of file RokubiminiSerial.cpp.

◆ setAccelerationRange()

bool rokubimini::serial::RokubiminiSerial::setAccelerationRange ( const unsigned int range )

overridevirtual

Sets an acceleration range to the device.

Parameters

range The range to be set.

Returns: True if the acceleration range was successfully set.

Implements rokubimini::Rokubimini.

Definition at line 150 of file RokubiminiSerial.cpp.

◆ setAngularRateFilter()

bool rokubimini::serial::RokubiminiSerial::setAngularRateFilter ( const unsigned int filter )

overridevirtual

Sets an angular rate filter to the device.

Parameters

filter The filter to be set.

Returns: True if the angular rate filter was successfully set.

Implements rokubimini::Rokubimini.

Definition at line 145 of file RokubiminiSerial.cpp.

◆ setAngularRateRange()

bool rokubimini::serial::RokubiminiSerial::setAngularRateRange ( const unsigned int range )

overridevirtual

Sets an angular rate range to the device.

Parameters

range The range to be set.

Returns: True if the angular rate range was successfully set.

Implements rokubimini::Rokubimini.

Definition at line 155 of file RokubiminiSerial.cpp.

◆ setConfigMode()

bool rokubimini::serial::RokubiminiSerial::setConfigMode ( )

Sets the device in config mode.

Returns: True if the operation was successful.

Definition at line 185 of file RokubiminiSerial.cpp.

◆ setForceTorqueFilter()

bool rokubimini::serial::RokubiminiSerial::setForceTorqueFilter ( const configuration::ForceTorqueFilter & filter )

overridevirtual

Sets a force torque filter to the device.

Parameters

filter The filter to be set.

Returns: True if the force torque filter was successfully set.

Implements rokubimini::Rokubimini.

Definition at line 135 of file RokubiminiSerial.cpp.

◆ setForceTorqueOffset()

bool rokubimini::serial::RokubiminiSerial::setForceTorqueOffset ( const Eigen::Matrix< double, 6, 1 > & forceTorqueOffset )

overridevirtual

Sets a force torque offset to the device.

Parameters

forceTorqueOffset The offset to be set.

Returns: True if the offset was successfully set.

Implements rokubimini::Rokubimini.

Definition at line 160 of file RokubiminiSerial.cpp.

◆ setHardwareReset()

bool rokubimini::serial::RokubiminiSerial::setHardwareReset ( )

Triggers a hardware reset of the sensor.

Returns: True if the operation was successful.

Definition at line 210 of file RokubiminiSerial.cpp.

◆ setImplPointer()

void rokubimini::serial::RokubiminiSerial::setImplPointer ( const RokubiminiSerialImplPtr & implPtr )

inline

Sets a pointer to the implementation.

This method realizes the pimpl paradigm. Through it, the RokubiminiSerial object holds a pointer to its implementation, a RokubiminiSerialImpl object.

Parameters

implPtr The pointer to the RokubiminiSerialImpl implementation.

Definition at line 135 of file RokubiminiSerial.hpp.

◆ setInitMode()

bool rokubimini::serial::RokubiminiSerial::setInitMode ( )

Triggers a software reset of the sensor bringing it to a known state.

Returns: True if the operation was successful.

Definition at line 215 of file RokubiminiSerial.cpp.

◆ setPublishMode()

bool rokubimini::serial::RokubiminiSerial::setPublishMode ( double timeStep )

Sets the publishing mode (synchronous or async) of the serial device.

Parameters

timeStep The time step to set for synchronous publishing, provided it's not 0. If it's 0, this means asynchronous publishing.

Returns: True if the operation was successful.

Definition at line 52 of file RokubiminiSerial.cpp.

◆ setRunMode()

bool rokubimini::serial::RokubiminiSerial::setRunMode ( )

Sets the device in run mode.

Returns: True if the operation was successful.

Definition at line 190 of file RokubiminiSerial.cpp.

◆ setSensorCalibration()

bool rokubimini::serial::RokubiminiSerial::setSensorCalibration ( const calibration::SensorCalibration & sensorCalibration )

overridevirtual

Sets a sensor calibration to the device.

Parameters

sensorCalibration The calibration to be set.

Returns: True if the calibration was successfully set.

Implements rokubimini::Rokubimini.

Definition at line 175 of file RokubiminiSerial.cpp.

◆ setSensorConfiguration()

bool rokubimini::serial::RokubiminiSerial::setSensorConfiguration ( const configuration::SensorConfiguration & sensorConfiguration )

overridevirtual

Sets a sensor configuration to the device.

Parameters

sensorConfiguration The configuration to be set.

Returns: True if the configuration was successfully set.

Implements rokubimini::Rokubimini.

Definition at line 165 of file RokubiminiSerial.cpp.

◆ shutdownWithCommunication()

void rokubimini::serial::RokubiminiSerial::shutdownWithCommunication ( )

overridevirtual

Shuts down a Rokubimini Serial device before communication has been closed.

This method shuts down a Rokubimini Serial device before the SerialBusManager has terminated communication with the device.

Implements rokubimini::Rokubimini.

Definition at line 105 of file RokubiminiSerial.cpp.

◆ signalShutdown()

void rokubimini::serial::RokubiminiSerial::signalShutdown ( )

Signals shutdown for the ROS node. It's used if a firmware update was successful.

Definition at line 286 of file RokubiminiSerial.cpp.

◆ update()

void rokubimini::serial::RokubiminiSerial::update ( )

Updates the internal Reading with new measurements and publishes them to ROS.

Definition at line 73 of file RokubiminiSerial.cpp.

◆ updateConnectionStatus()

void rokubimini::serial::RokubiminiSerial::updateConnectionStatus ( diagnostic_updater::DiagnosticStatusWrapper & stat )

Updates the Connection Status of the device and adds it to the diagnostics status.

Definition at line 419 of file RokubiminiSerial.cpp.

◆ updateProcessReading()

void rokubimini::serial::RokubiminiSerial::updateProcessReading ( )

overridevirtual

Updates the RokubiminiSerial object with new measurements.

This method updates the internal Reading variable of RokubiminiSerial, by getting the new values from its implementation RokubiminiSerialImpl.

Implements rokubimini::Rokubimini.

Definition at line 85 of file RokubiminiSerial.cpp.

Member Data Documentation

◆ computeMeanWrenchFlag_

std::atomic< bool > rokubimini::serial::RokubiminiSerial::computeMeanWrenchFlag_ { false }

protected

The flag for enabling the computation of the mean of the wrench measurements. Used withing the "reset service" callback.

Definition at line 528 of file RokubiminiSerial.hpp.

◆ firmwareUpdateService_

ros::ServiceServer rokubimini::serial::RokubiminiSerial::firmwareUpdateService_

protected

The service for firmware updates.

Definition at line 503 of file RokubiminiSerial.hpp.

◆ implPtr_

RokubiminiSerialImplPtr rokubimini::serial::RokubiminiSerial::implPtr_ { nullptr }

protected

The pointer to implementation.

Definition at line 469 of file RokubiminiSerial.hpp.

◆ meanWrenchOffsetMutex_

std::recursive_mutex rokubimini::serial::RokubiminiSerial::meanWrenchOffsetMutex_

mutableprotected

The mutex for accessing the mean of the wrench measurements. Used for the "reset service" callback.

Definition at line 545 of file RokubiminiSerial.hpp.

◆ noFrameSyncCounter_

uint64_t rokubimini::serial::RokubiminiSerial::noFrameSyncCounter_ { 0 }

protected

The counter for measuring failed frame synchronizations.

Definition at line 519 of file RokubiminiSerial.hpp.

◆ publishersSet_

bool rokubimini::serial::RokubiminiSerial::publishersSet_ = false

protected

Flag to check whether publishers are ready.

Definition at line 578 of file RokubiminiSerial.hpp.

◆ publishingThread_

std::thread rokubimini::serial::RokubiminiSerial::publishingThread_

protected

The thread that publishes the sensor messages to ROS.

Definition at line 570 of file RokubiminiSerial.hpp.

◆ readingPublisher_

RosPublisherPtr rokubimini::serial::RokubiminiSerial::readingPublisher_

protected

The rokubimini_msgs::Reading publisher.

Definition at line 479 of file RokubiminiSerial.hpp.

◆ resetServiceWrenchSamples_

eigen::Matrix< double, 6, Dynamic > rokubimini::serial::RokubiminiSerial::resetServiceWrenchSamples_

protected

The wrench samples used by the "reset service" callback for calculating the mean wrench offset.

Definition at line 562 of file RokubiminiSerial.hpp.

◆ resetWrenchService_

ros::ServiceServer rokubimini::serial::RokubiminiSerial::resetWrenchService_

protected

The service for resetting the sensor wrench measurements.

Definition at line 511 of file RokubiminiSerial.hpp.

◆ rosDiagnosticsSet_

bool rokubimini::serial::RokubiminiSerial::rosDiagnosticsSet_ = false

protected

Flag to check whether ros diagnostics are ready.

Definition at line 586 of file RokubiminiSerial.hpp.

◆ temperaturePublisher_

RosPublisherPtr rokubimini::serial::RokubiminiSerial::temperaturePublisher_

protected

The sensor_msgs::Temperature publisher.

Definition at line 495 of file RokubiminiSerial.hpp.

◆ TOTAL_NUMBER_OF_WRENCH_MESSAGES

const static uint32_t rokubimini::serial::RokubiminiSerial::TOTAL_NUMBER_OF_WRENCH_MESSAGES = 50

staticprotected

Definition at line 554 of file RokubiminiSerial.hpp.

◆ wrenchMessageCount_

std::atomic< uint32_t > rokubimini::serial::RokubiminiSerial::wrenchMessageCount_ { 0 }

protected

The counter that is used for the computation of the mean of the wrench measurements. Used for the "reset service" callback.

Definition at line 537 of file RokubiminiSerial.hpp.

◆ wrenchPublisher_

RosPublisherPtr rokubimini::serial::RokubiminiSerial::wrenchPublisher_

protected

The sensor_msgs::Wrench publisher.

Definition at line 487 of file RokubiminiSerial.hpp.

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

Public Member Functions

Protected Types

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ RosPublisherPtr

Constructor & Destructor Documentation

◆ RokubiminiSerial() [1/2]

◆ RokubiminiSerial() [2/2]

◆ ~RokubiminiSerial()

Member Function Documentation

◆ createRosDiagnostics()

◆ createRosPublishers()

◆ createRosServices()

◆ deviceIsMissing()

◆ firmwareUpdateCallback()

◆ getForceTorqueSamplingRate()

◆ getSerialNumber()

◆ init()

◆ loadConfig()

◆ parseCommunicationMsgs()

◆ postSetupConfiguration()

◆ preSetupConfiguration()

◆ printUserConfig()

◆ publishConnectionStatusDiagnostics()

◆ publishDataFlagsDiagnostics()

◆ publishRosDiagnostics()

◆ publishRosMessages()

◆ resetWrenchCallback()

◆ saveConfigParameter()

◆ setAccelerationFilter()

◆ setAccelerationRange()

◆ setAngularRateFilter()

◆ setAngularRateRange()

◆ setConfigMode()

◆ setForceTorqueFilter()

◆ setForceTorqueOffset()

◆ setHardwareReset()

◆ setImplPointer()

◆ setInitMode()

◆ setPublishMode()

◆ setRunMode()

◆ setSensorCalibration()

◆ setSensorConfiguration()

◆ shutdownWithCommunication()

◆ signalShutdown()

◆ update()

◆ updateConnectionStatus()

◆ updateProcessReading()

Member Data Documentation

◆ computeMeanWrenchFlag_

◆ firmwareUpdateService_

◆ implPtr_

◆ meanWrenchOffsetMutex_

◆ noFrameSyncCounter_

◆ publishersSet_

◆ publishingThread_

◆ readingPublisher_

◆ resetServiceWrenchSamples_

◆ resetWrenchService_

◆ rosDiagnosticsSet_

◆ temperaturePublisher_

◆ TOTAL_NUMBER_OF_WRENCH_MESSAGES

◆ wrenchMessageCount_

◆ wrenchPublisher_