A class which implements a controller for robot visualization in RViz. More...

#include <ros_state_publisher.h>

Inheritance diagram for arl::viz::RosStatePublisher:

Collaboration diagram for arl::viz::RosStatePublisher:

Public Member Functions
	RosStatePublisher (std::shared_ptr< robot::Robot > r, const std::string &joint_state_topic="/autharl_joint_state", double rate=50, const std::string &frame="world", const std::string &topic="/autharl_viz")
	The default constructor. More...

	RosStatePublisher (std::shared_ptr< robot::Robot > r, std::shared_ptr< robot::Sensor > s, const std::string &joint_state_topic="/autharl_joint_state", double rate=50, const std::string &frame="world", const std::string &topic="/autharl_viz")
	The default constructor. More...

void	measure ()
	Measures the current state of the robot (Joint Positions). More...

void	command ()
	Publishes the measured joint positions and other data in RViz. More...

virtual void	update ()
	Updates ROS data structures with the readings from the robot. More...

bool	stop ()
	The stop condition of the controller which is that ROS is ok. More...

void	setFrame (const std::vector< arma::mat > &f)
	Sets a number of frames for visualization. More...

void	setVector (const std::vector< std::pair< arma::vec, arma::vec >> &v)

void	waitNextCycle ()
	Sets a new reference for the controller. More...

Public Member Functions inherited from arl::robot::Controller
	Controller (std::shared_ptr< Robot > r, const std::string &name, Timing timing=FIXED)
	Constructor which initializes the robot controller. More...

	~Controller ()

bool	run ()
	The main function that runs the controller. More...

bool	runRT ()
	Runs the controller with real time priority. More...

void	setExternalStop (bool arg)
	Sets an external stop to the controller. Another external thread can use this function to stop the controller. More...

std::string	getName ()
	Returns the name of the controller. More...

double	getTime () const
	Returns the current time since the start of the controller in seconds. More...

virtual void	enableLogging (const std::string &log_path="/home/user/autharl_logfiles/")
	Enables the logging by opening files for log benchmarking times and data. More...

virtual void	reference (const arma::mat &ref)

Protected Attributes
viz::RVisualizer	rviz

ros::Rate	loop_rate

Protected Attributes inherited from arl::robot::Controller
std::string	name
	The name of the controller. More...

bool	external_stop
	The external stopped setted by Controller::setExternalStop() More...

std::shared_ptr< Robot >	robot
	The pointer to the robot to be controlled. More...

double	t
	The current time t, with t = 0 when the controller is created. Alternatively the user can initialize time durint the init() function of its derived controller. More...

double	dt
	The cycle time of the control loop, obtained by the robot. More...

bool	stop_flag_

utils::Timer	timer
	Used for measuring the current time of the controller. More...

utils::Timer	benchmark_total_timer_

utils::Timer	benchmark_timer_

io::Logger	benchmark_logger_

io::Logger	logger_

Timing	timing_

Additional Inherited Members
Public Types inherited from arl::robot::Controller
enum	Timing { FIXED, DYNAMIC }

Protected Member Functions inherited from arl::robot::Controller
virtual void	init ()
	Initializes the controller. More...

virtual bool	success ()
	Implements the success condition of your controller. More...

Detailed Description

A class which implements a controller for robot visualization in RViz.

Constructor & Destructor Documentation

arl::viz::RosStatePublisher::RosStatePublisher	(	std::shared_ptr< robot::Robot >	r,
		const std::string &	joint_state_topic = `"/autharl_joint_state"`,
		double	rate = `50`,
		const std::string &	frame = `"world"`,
		const std::string &	topic = `"/autharl_viz"`
	)

explicit

The default constructor.

Parameters

r	A pointer to the robot for visualization
rate	The rate for the visualization in Hz. Defaults to 50 Hz.
frame	The base frame that which data will be expressed. Defaults to "world".
topic	The topic that RViz reads for the data. Defaults to "/autharl_viz".

arl::viz::RosStatePublisher::RosStatePublisher	(	std::shared_ptr< robot::Robot >	r,
		std::shared_ptr< robot::Sensor >	s,
		const std::string &	joint_state_topic = `"/autharl_joint_state"`,
		double	rate = `50`,
		const std::string &	frame = `"world"`,
		const std::string &	topic = `"/autharl_viz"`
	)

explicit

The default constructor.

Parameters

r	A pointer to the robot for visualization
rate	The rate for the visualization in Hz. Defaults to 50 Hz.
frame	The base frame that which data will be expressed. Defaults to "world".
topic	The topic that RViz reads for the data. Defaults to "/autharl_viz".

Member Function Documentation

void arl::viz::RosStatePublisher::command ( )

virtual

Publishes the measured joint positions and other data in RViz.

Reimplemented from arl::robot::Controller.

Here is the call graph for this function:

void arl::viz::RosStatePublisher::measure ( )

virtual

Measures the current state of the robot (Joint Positions).

Reimplemented from arl::robot::Controller.

void arl::viz::RosStatePublisher::setFrame ( const std::vector< arma::mat > & f )

Sets a number of frames for visualization.

Another thread can use this function in order to visualize a set of frames in the given loop rate.

Parameters

f	The frames for visualization

void arl::viz::RosStatePublisher::setVector ( const std::vector< std::pair< arma::vec, arma::vec >> & v )

bool arl::viz::RosStatePublisher::stop ( )

virtual

The stop condition of the controller which is that ROS is ok.

Reimplemented from arl::robot::Controller.

void arl::viz::RosStatePublisher::update ( )

virtual

Updates ROS data structures with the readings from the robot.

Implements arl::robot::Controller.

void arl::viz::RosStatePublisher::waitNextCycle ( )

virtual

Sets a new reference for the controller.

Implemented according to your controller needs. The data has the form of an armadillo matrix which can contain any reference signal.

Parameters

ref	The data reference in the form of a matrix

Reimplemented from arl::robot::Controller.

Member Data Documentation

ros::Rate arl::viz::RosStatePublisher::loop_rate

protected

viz::RVisualizer arl::viz::RosStatePublisher::rviz

protected

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation