aikido::control::ros Namespace Reference

Classes
class	RosJointCommandExecutor
	This Executor uses pr_control_msgs/JointGroupCommandAction to execute joint-wise commands. More...
class	RosJointGroupCommandClient
	This class uses actionlib to command an action of the type pr_control_msgs/JointGroupCommandAction. More...
class	RosJointModeCommandClient
	This class uses actionlib to command an action of the type pr_control_msgs/JointModeCommandAction. More...
class	RosJointStateClient
	Client that listens for JointState messages for each skeleton joint and provides a method for extracting the most recent position of each joint. More...
class	RosTrajectoryExecutionException
	This class wraps various exceptions that may arise during trajectory execution over ROS. More...
class	RosTrajectoryExecutor
	This class sends trajectory commands to ROS server. More...

Typedefs
using	RosJointPositionExecutor = RosJointCommandExecutor< ExecutorType::POSITION >
using	RosJointVelocityExecutor = RosJointCommandExecutor< ExecutorType::VELOCITY >
using	RosJointEffortExecutor = RosJointCommandExecutor< ExecutorType::EFFORT >

Functions
std::unique_ptr< aikido::trajectory::Spline >	toSplineJointTrajectory (const std::shared_ptr< aikido::statespace::dart::MetaSkeletonStateSpace > &space, const trajectory_msgs::JointTrajectory &jointTrajectory)
	Converts a ROS JointTrajectory into an aikido's Spline trajectory. More...
std::unique_ptr< aikido::trajectory::Spline >	toSplineJointTrajectory (const std::shared_ptr< aikido::statespace::dart::MetaSkeletonStateSpace > &space, const trajectory_msgs::JointTrajectory &jointTrajectory, const Eigen::VectorXd &startPositions)
	Converts a ROS JointTrajectory into an aikido's Spline trajectory. More...
trajectory_msgs::JointTrajectory	toRosJointTrajectory (const aikido::trajectory::ConstTrajectoryPtr &trajectory, double timestep)
	Converts Aikido Trajectory to ROS JointTrajectory. More...
static std::vector< std::string >	jointNamesFromDofs (const std::vector< dart::dynamics::DegreeOfFreedom * > &dofs)
template<class ActionSpec , class TimeoutDuration , class PeriodDuration >
bool	waitForActionServer (actionlib::ActionClient< ActionSpec > &actionClient, ::ros::CallbackQueue &callbackQueue, TimeoutDuration timeoutDuration, PeriodDuration periodDuration)
static int	intFromMode (hardware_interface::JointCommandModes mode)

Variables
constexpr int	DEFAULT_CON_TIMEOUT_MS {1000}
	Default actionlib client connection timeout (ms) More...
constexpr int	DEFAULT_POLL_PERIOD_MS {20}
	Default actionlib client polling period (ms) More...

Typedef Documentation

RosJointEffortExecutor

using aikido::control::ros::RosJointEffortExecutor = typedef RosJointCommandExecutor<ExecutorType::EFFORT>

RosJointPositionExecutor

using aikido::control::ros::RosJointPositionExecutor = typedef RosJointCommandExecutor<ExecutorType::POSITION>

RosJointVelocityExecutor

using aikido::control::ros::RosJointVelocityExecutor = typedef RosJointCommandExecutor<ExecutorType::VELOCITY>

Function Documentation

intFromMode()

static int aikido::control::ros::intFromMode ( hardware_interface::JointCommandModes  mode )

inlinestatic

jointNamesFromDofs()

static std::vector<std::string> aikido::control::ros::jointNamesFromDofs ( const std::vector< dart::dynamics::DegreeOfFreedom * > &  dofs )

static

toRosJointTrajectory()

trajectory_msgs::JointTrajectory aikido::control::ros::toRosJointTrajectory	(	const aikido::trajectory::ConstTrajectoryPtr &	trajectory,
		double	timestep
	)

Converts Aikido Trajectory to ROS JointTrajectory.

Supports only 1D RnJoints and SO2Joints.

Parameters

[in]	trajectory	Aikido trajectory to be converted.
[in]	timestep	Timestep between two consecutive waypoints.

toSplineJointTrajectory() [1/2]

std::unique_ptr<aikido::trajectory::Spline> aikido::control::ros::toSplineJointTrajectory	(	const std::shared_ptr< aikido::statespace::dart::MetaSkeletonStateSpace > &	space,
		const trajectory_msgs::JointTrajectory &	jointTrajectory
	)

Converts a ROS JointTrajectory into an aikido's Spline trajectory.

This method only handles single-DOF joints.

Parameters

[in]	space	MetaSkeletonStateSpace for Spline trajectory. Subspaces must be either R1Joint or SO2Joint.
[in]	jointTrajectory	ROS JointTrajectory to be converted.

Returns

Spline trajectory.

toSplineJointTrajectory() [2/2]

std::unique_ptr<aikido::trajectory::Spline> aikido::control::ros::toSplineJointTrajectory	(	const std::shared_ptr< aikido::statespace::dart::MetaSkeletonStateSpace > &	space,
		const trajectory_msgs::JointTrajectory &	jointTrajectory,
		const Eigen::VectorXd &	startPositions
	)

Converts a ROS JointTrajectory into an aikido's Spline trajectory.

This method only handles single-DOF joints.

Parameters

[in]	space	MetaSkeletonStateSpace for Spline trajectory. Subspaces must be either R1Joint or SO2Joint.
[in]	jointTrajectory	ROS JointTrajectory to be converted.
[in]	startPositions	If empty, jointTrajectory must specify all joints in the space. If non-empty, jointTrajectory only needs to specify a subset of the joints in the space. The remaining unspecified joint positions are filled with the corresponding positions in startPositions, which must have the same size as the space. Velocities and accelerations are filled with zero.

Returns

Spline trajectory.

waitForActionServer()

template<class ActionSpec , class TimeoutDuration , class PeriodDuration >

bool aikido::control::ros::waitForActionServer	(	actionlib::ActionClient< ActionSpec > &	actionClient,
		::ros::CallbackQueue &	callbackQueue,
		TimeoutDuration	timeoutDuration,
		PeriodDuration	periodDuration
	)

Variable Documentation

DEFAULT_CON_TIMEOUT_MS

constexpr int aikido::control::ros::DEFAULT_CON_TIMEOUT_MS {1000}

constexpr

Default actionlib client connection timeout (ms)

DEFAULT_POLL_PERIOD_MS

constexpr int aikido::control::ros::DEFAULT_POLL_PERIOD_MS {20}

constexpr

Default actionlib client polling period (ms)