Server for force/torque sensor readings. More...

#include <sas_force_sensor_server.hpp>

Inheritance diagram for sas::ForceSensorServer:

Public Member Functions
	ForceSensorServer (const ForceSensorServer &)=delete
	ForceSensorServer (const std::shared_ptr< Node > &node, const std::string &topic_prefix="GET_FROM_NODE")
	Construct a new ForceSensorServer.
void	send_force_torque (const DQ &force, const DQ &torque) const
	Publish the current force/torque reading.
std::string	get_topic_prefix () const
	Get the configured topic prefix.

Detailed Description

Server for force/torque sensor readings.

ForceSensorServer publishes force/torque readings, obtained from a physical (or simulated) force sensor, as a geometry_msgs/msg/WrenchStamped message. Any number of sas::ForceSensorClient instances can subscribe to that topic to retrieve the latest reading.

Constructor & Destructor Documentation

◆ ForceSensorServer()

sas::ForceSensorServer::ForceSensorServer	(	const std::shared_ptr< Node > &	node,
		const std::string &	topic_prefix = "GET_FROM_NODE" )

Construct a new ForceSensorServer.

Parameters

node	Shared pointer to the rclcpp::Node used for communication.
topic_prefix	Prefix used to compose the ROS topic name (defaults to "GET_FROM_NODE", in which case the node name is used).

Member Function Documentation

◆ get_topic_prefix()

std::string sas::ForceSensorServer::get_topic_prefix ( ) const

Get the configured topic prefix.

Returns: std::string Topic prefix used by this server.

◆ send_force_torque()

void sas::ForceSensorServer::send_force_torque	(	const DQ &	force,
		const DQ &	torque ) const

Publish the current force/torque reading.