RosJointCommandExecutor.hpp

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#ifndef AIKIDO_CONTROL_ROS_ROSJOINTCOMMANDEXECUTOR_HPP_
#define AIKIDO_CONTROL_ROS_ROSJOINTCOMMANDEXECUTOR_HPP_
 
#include <chrono>
#include <future>
#include <set>
 
#include "aikido/control/JointCommandExecutor.hpp"
#include "aikido/control/ros/RosJointGroupCommandClient.hpp"
 
namespace aikido {
namespace control {
namespace ros {
 
constexpr int DEFAULT_CON_TIMEOUT_MS{1000};
 
constexpr int DEFAULT_POLL_PERIOD_MS{20};
 
template <ExecutorType T>
class RosJointCommandExecutor : public aikido::control::JointCommandExecutor<T>
{
public:
  RosJointCommandExecutor(
      const ::ros::NodeHandle& node,
      const std::string& controllerName,
      const std::vector<dart::dynamics::DegreeOfFreedom*>& dofs,
      std::chrono::milliseconds connectionTimeout
      = std::chrono::milliseconds{DEFAULT_CON_TIMEOUT_MS},
      std::chrono::milliseconds connectionPollingPeriod
      = std::chrono::milliseconds{DEFAULT_POLL_PERIOD_MS});
 
  virtual ~RosJointCommandExecutor();
 
  // Documentation inherited.
  std::future<int> execute(
      const std::vector<double>& command,
      const std::chrono::duration<double>& timeout,
      const std::chrono::system_clock::time_point& timepoint) override;
 
  // Documentation inherited.
  void step(const std::chrono::system_clock::time_point& timepoint) override;
 
  // Documentation inherited.
  void cancel() override;
 
private:
  RosJointGroupCommandClient mClient;
};
 
// Define common executors
 
using RosJointPositionExecutor
    = RosJointCommandExecutor<ExecutorType::POSITION>;
using RosJointVelocityExecutor
    = RosJointCommandExecutor<ExecutorType::VELOCITY>;
using RosJointEffortExecutor = RosJointCommandExecutor<ExecutorType::EFFORT>;
 
} // namespace ros
} // namespace control
} // namespace aikido
 
#include "detail/RosJointCommandExecutor-impl.hpp"
 
#endif // ifndef AIKIDO_CONTROL_ROS_ROSJOINTCOMMANDEXECUTOR_HPP_