aikido::control::ros::RosTrajectoryExecutor Class Reference

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 (::ros::NodeHandle node, const std::string &serverName, double waypointTimestep, double goalTimeTolerance, 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
virtual	~TrajectoryExecutor ()=default

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

Private Member Functions
void	transitionCallback (GoalHandle handle)

Private Attributes
::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...

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	(	::ros::NodeHandle	node,
		const std::string &	serverName,
		double	waypointTimestep,
		double	goalTimeTolerance,
		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
[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

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