aikido::control::ros::RosJointGroupCommandClient Class Reference

This class uses actionlib to command an action of the type pr_control_msgs/JointGroupCommandAction. More...

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

Public Member Functions
	RosJointGroupCommandClient (const ::ros::NodeHandle &node, const std::string &serverName, const std::vector< std::string > jointNames, const std::chrono::milliseconds connectionTimeout=std::chrono::milliseconds{1000}, const std::chrono::milliseconds connectionPollingPeriod=std::chrono::milliseconds{20})
	Constructor. More...
virtual	~RosJointGroupCommandClient ()
std::future< int >	execute (ExecutorType type, const std::vector< double > &goal, ::ros::Duration timeout)
	Send command to ROS server for execution. More...
void	step ()
	Step to a point in time. More...
void	cancel ()
	Cancel current command. More...

Private Types
using	JointGroupCommandActionClient = actionlib::ActionClient< pr_control_msgs::JointGroupCommandAction >
using	GoalHandle = JointGroupCommandActionClient::GoalHandle

Private Member Functions
void	transitionCallback (GoalHandle handle)

Private Attributes
const ::ros::NodeHandle	mNode
::ros::CallbackQueue	mCallbackQueue
JointGroupCommandActionClient	mClient
JointGroupCommandActionClient::GoalHandle	mGoalHandle
std::vector< std::string >	mJointNames
std::chrono::milliseconds	mConnectionTimeout
std::chrono::milliseconds	mConnectionPollingPeriod
bool	mInProgress
std::unique_ptr< std::promise< int > >	mPromise
std::mutex	mMutex
	Manages access to mInProgress, mPromise. More...

Detailed Description

This class uses actionlib to command an action of the type pr_control_msgs/JointGroupCommandAction.

It specifies a set of target command and sends it to the ROS server for execution

Member Typedef Documentation

GoalHandle

using aikido::control::ros::RosJointGroupCommandClient::GoalHandle = JointGroupCommandActionClient::GoalHandle

private

JointGroupCommandActionClient

using aikido::control::ros::RosJointGroupCommandClient::JointGroupCommandActionClient = actionlib::ActionClient<pr_control_msgs::JointGroupCommandAction>

private

Constructor & Destructor Documentation

RosJointGroupCommandClient()

aikido::control::ros::RosJointGroupCommandClient::RosJointGroupCommandClient	(	const ::ros::NodeHandle &	node,
		const std::string &	serverName,
		const std::vector< std::string >	jointNames,
		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]	jointNames	The names of the joints to set position targets for
[in]	connectionTimeout	Timeout for server connection.
[in]	connectionPollingPeriod	Polling period for server connection.

~RosJointGroupCommandClient()

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

virtual

Member Function Documentation

cancel()

void aikido::control::ros::RosJointGroupCommandClient::cancel

(

)

Cancel current command.

Should trigger exception for active std::promise

execute()

std::future<int> aikido::control::ros::RosJointGroupCommandClient::execute	(	ExecutorType	type,
		const std::vector< double > &	goal,
		::ros::Duration	timeout
	)

Send command to ROS server for execution.

Parameters

[in]	type	Selecting between Position, Velocity, or Effort
[in]	goal	Vector of target positions for each joint
[in]	timeout	How long until command should expire

step()

void aikido::control::ros::RosJointGroupCommandClient::step

(

)

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 command.

transitionCallback()

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

private

Member Data Documentation

mCallbackQueue

::ros::CallbackQueue aikido::control::ros::RosJointGroupCommandClient::mCallbackQueue

private

mClient

JointGroupCommandActionClient aikido::control::ros::RosJointGroupCommandClient::mClient

private

mConnectionPollingPeriod

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

private

mConnectionTimeout

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

private

mGoalHandle

JointGroupCommandActionClient::GoalHandle aikido::control::ros::RosJointGroupCommandClient::mGoalHandle

private

mInProgress

bool aikido::control::ros::RosJointGroupCommandClient::mInProgress

private

mJointNames

std::vector<std::string> aikido::control::ros::RosJointGroupCommandClient::mJointNames

private

mMutex

std::mutex aikido::control::ros::RosJointGroupCommandClient::mMutex

mutableprivate

Manages access to mInProgress, mPromise.

mNode

const ::ros::NodeHandle aikido::control::ros::RosJointGroupCommandClient::mNode

private

mPromise

std::unique_ptr<std::promise<int> > aikido::control::ros::RosJointGroupCommandClient::mPromise

private