This class sends trajectory commands to ROS server. More...

#include <aikido/control/ros/RosTrajectoryExecutor.hpp>

Inheritance diagram for aikido::control::ros::RosTrajectoryExecutor:

Public Member Functions
	RosTrajectoryExecutor (const ::ros::NodeHandle &node, const std::string &serverName, double waypointTimestep, double goalTimeTolerance, const ::dart::dynamics::MetaSkeletonPtr metaskeleton, const std::chrono::milliseconds &connectionTimeout=std::chrono::milliseconds{1000}, const std::chrono::milliseconds &connectionPollingPeriod=std::chrono::milliseconds{20})
	Constructor. More...

virtual	~RosTrajectoryExecutor ()

void	validate (const trajectory::Trajectory *traj) override
	Validate the traj in preparation for execution. More...

std::future< void >	execute (const trajectory::ConstTrajectoryPtr &traj) override
	Sends trajectory to ROS server for execution. More...

std::future< void >	execute (const trajectory::ConstTrajectoryPtr &traj, const ::ros::Time &startTime)
	Sends trajectory to ROS server for execution. More...

void	step (const std::chrono::system_clock::time_point &timepoint) override
	Step to a point in time. More...

void	cancel () override
	Cancel the current trajectory. More...

Public Member Functions inherited from aikido::control::TrajectoryExecutor
	TrajectoryExecutor (const std::vector< dart::dynamics::DegreeOfFreedom * > &dofs, const std::set< ExecutorType > otherTypes=std::set< ExecutorType >(), const std::chrono::milliseconds threadRate=defaultThreadRate)
	Constructor Documentation Inherited. More...

virtual	~TrajectoryExecutor ()=default

Public Member Functions inherited from aikido::control::Executor
	Executor (const std::set< ExecutorType > &types, const std::vector< dart::dynamics::DegreeOfFreedom * > &dofs, const std::chrono::milliseconds threadRate=defaultThreadRate)
	Constructor. More...

	Executor (const ExecutorType type, const std::vector< dart::dynamics::DegreeOfFreedom * > &dofs, std::chrono::milliseconds threadRate=defaultThreadRate)
	Constructor. More...

virtual	~Executor ()

std::set< ExecutorType >	getTypes () const
	Get all of this Executor's ExecutorTypes. More...

const std::vector< dart::dynamics::DegreeOfFreedom * >	getDofs () const
	Get list of dofs needed by this Executor. More...

void	start ()
	Start the underlying ExecutorThread. More...

void	stop ()
	Stops the underlying ExecutorThread. More...

bool	registerDofs ()
	Lock the resources required by the DoFs. More...

void	releaseDofs ()
	Unlock any resources required by the DoFs. More...

Private Types
using	TrajectoryActionClient = actionlib::ActionClient< control_msgs::FollowJointTrajectoryAction >

using	GoalHandle = TrajectoryActionClient::GoalHandle

Private Member Functions
void	transitionCallback (GoalHandle handle)

Private Attributes
const ::dart::dynamics::MetaSkeletonPtr	mMetaSkeleton
	MetaSkeleton to execute trajectories on For trajectory-validation purposes only. More...

::ros::NodeHandle	mNode

::ros::CallbackQueue	mCallbackQueue

TrajectoryActionClient	mClient

TrajectoryActionClient::GoalHandle	mGoalHandle

double	mWaypointTimestep

double	mGoalTimeTolerance

std::chrono::milliseconds	mConnectionTimeout

std::chrono::milliseconds	mConnectionPollingPeriod

bool	mInProgress

std::unique_ptr< std::promise< void > >	mPromise

std::mutex	mMutex
	Manages access to mInProgress, mPromise. More...

Additional Inherited Members
Protected Attributes inherited from aikido::control::TrajectoryExecutor
std::set< const trajectory::Trajectory * >	mValidatedTrajectories
	Set of trajectories validated by executor. More...

std::chrono::system_clock::time_point	mExecutionStartTime
	Time of previous call. More...

Protected Attributes inherited from aikido::control::Executor
std::set< ExecutorType >	mTypes
	Vector of executor types. More...

std::vector< dart::dynamics::DegreeOfFreedom * >	mDofs
	Vector of dof names. More...

Detailed Description

This class sends trajectory commands to ROS server.

Member Typedef Documentation

◆ GoalHandle

using aikido::control::ros::RosTrajectoryExecutor::GoalHandle = TrajectoryActionClient::GoalHandle

private

◆ TrajectoryActionClient

using aikido::control::ros::RosTrajectoryExecutor::TrajectoryActionClient = actionlib::ActionClient<control_msgs::FollowJointTrajectoryAction>

private

Constructor & Destructor Documentation

◆ RosTrajectoryExecutor()

aikido::control::ros::RosTrajectoryExecutor::RosTrajectoryExecutor	(	const ::ros::NodeHandle &	node,
		const std::string &	serverName,
		double	waypointTimestep,
		double	goalTimeTolerance,
		const ::dart::dynamics::MetaSkeletonPtr	metaskeleton,
		const std::chrono::milliseconds &	connectionTimeout = `std::chrono::milliseconds{1000}`,
		const std::chrono::milliseconds &	connectionPollingPeriod = `std::chrono::milliseconds{20}`
	)

Constructor.

Parameters

[in]	node	ROS node handle for action client.
[in]	serverName	Name of the server to send trajectory to.
[in]	waypointTimestep	Step size for interpolating trajectories.
[in]	goalTimeTolerance	Wait time for robot to settle at goal
[in]	dofs	The Degrees of Freedom this executor acts upon
[in]	connectionTimeout	Timeout for server connection.
[in]	connectionPollingPeriod	Polling period for server connection.

◆ ~RosTrajectoryExecutor()

virtual aikido::control::ros::RosTrajectoryExecutor::~RosTrajectoryExecutor ( )

virtual

Member Function Documentation

◆ cancel()

void aikido::control::ros::RosTrajectoryExecutor::cancel ( )

overridevirtual

Cancel the current trajectory.

Implements aikido::control::TrajectoryExecutor.

◆ execute() [1/2]

std::future<void> aikido::control::ros::RosTrajectoryExecutor::execute ( const trajectory::ConstTrajectoryPtr & traj )

overridevirtual

Sends trajectory to ROS server for execution.

Parameters

[in] traj Trajectory to be executed.

Implements aikido::control::TrajectoryExecutor.

◆ execute() [2/2]

std::future<void> aikido::control::ros::RosTrajectoryExecutor::execute	(	const trajectory::ConstTrajectoryPtr &	traj,
		const ::ros::Time &	startTime
	)

Sends trajectory to ROS server for execution.

Parameters

[in]	traj	Trajectory to be executed.
[in]	startTime	Start time for the trajectory.

◆ step()

void aikido::control::ros::RosTrajectoryExecutor::step ( const std::chrono::system_clock::time_point & timepoint )

overridevirtual

Step to a point in time.

Note: timepoint can be a time in the future to enable faster than real-time execution.

Parameters

timepoint Time to simulate to

To be executed on a separate thread. Regularly checks for the completion of a sent trajectory.

Implements aikido::control::TrajectoryExecutor.

◆ transitionCallback()

void aikido::control::ros::RosTrajectoryExecutor::transitionCallback ( GoalHandle handle )

private

◆ validate()

void aikido::control::ros::RosTrajectoryExecutor::validate ( const trajectory::Trajectory * traj )

overridevirtual

Validate the traj in preparation for execution.

Parameters

traj	Trajectory to be validated

Implements aikido::control::TrajectoryExecutor.

Member Data Documentation

◆ mCallbackQueue

::ros::CallbackQueue aikido::control::ros::RosTrajectoryExecutor::mCallbackQueue

private

◆ mClient

TrajectoryActionClient aikido::control::ros::RosTrajectoryExecutor::mClient

private

◆ mConnectionPollingPeriod

std::chrono::milliseconds aikido::control::ros::RosTrajectoryExecutor::mConnectionPollingPeriod

private

◆ mConnectionTimeout

std::chrono::milliseconds aikido::control::ros::RosTrajectoryExecutor::mConnectionTimeout

private

◆ mGoalHandle

TrajectoryActionClient::GoalHandle aikido::control::ros::RosTrajectoryExecutor::mGoalHandle

private

◆ mGoalTimeTolerance

double aikido::control::ros::RosTrajectoryExecutor::mGoalTimeTolerance

private

◆ mInProgress

bool aikido::control::ros::RosTrajectoryExecutor::mInProgress

private

◆ mMetaSkeleton

const ::dart::dynamics::MetaSkeletonPtr aikido::control::ros::RosTrajectoryExecutor::mMetaSkeleton

private

MetaSkeleton to execute trajectories on For trajectory-validation purposes only.

◆ mMutex

std::mutex aikido::control::ros::RosTrajectoryExecutor::mMutex

mutableprivate

Manages access to mInProgress, mPromise.

◆ mNode

::ros::NodeHandle aikido::control::ros::RosTrajectoryExecutor::mNode

private

◆ mPromise

std::unique_ptr<std::promise<void> > aikido::control::ros::RosTrajectoryExecutor::mPromise

private

◆ mWaypointTimestep

double aikido::control::ros::RosTrajectoryExecutor::mWaypointTimestep

private

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ GoalHandle

◆ TrajectoryActionClient

Constructor & Destructor Documentation

◆ RosTrajectoryExecutor()

◆ ~RosTrajectoryExecutor()

Member Function Documentation

◆ cancel()

◆ execute() [1/2]

◆ execute() [2/2]

◆ step()

◆ transitionCallback()

◆ validate()

Member Data Documentation

◆ mCallbackQueue

◆ mClient

◆ mConnectionPollingPeriod

◆ mConnectionTimeout

◆ mGoalHandle

◆ mGoalTimeTolerance

◆ mInProgress

◆ mMetaSkeleton

◆ mMutex

◆ mNode

◆ mPromise

◆ mWaypointTimestep