sas::RobotDriverClient Class Reference

Client interface for robot driver ROS topics. More...

#include <sas_robot_driver_client.hpp>

Inheritance diagram for sas::RobotDriverClient:

Public Types
enum class	MODE_BLACKLIST_FLAG { JOINT_CONTROL =0 , JOINT_MONITORING , WATCHDOG_CONTROL }
	Flags used to blacklist client modes when constructing the client.

Public Member Functions
	RobotDriverClient (const RobotDriverClient &)=delete
	RobotDriverClient (const std::shared_ptr< Node > &node, const std::string topic_prefix="GET_FROM_NODE", const std::vector< MODE_BLACKLIST_FLAG > &blacklisted_modes=std::vector< MODE_BLACKLIST_FLAG >{})
	Construct a new RobotDriverClient.
void	send_target_joint_positions (const VectorXd &target_joint_positions)
	Publish target joint positions.
void	send_target_joint_velocities (const VectorXd &target_joint_velocities)
	Publish target joint velocities.
void	send_target_joint_forces (const VectorXd &target_joint_forces)
	Publish target joint forces/torques.
void	send_homing_signal (const VectorXi &homing_signal)
	Send a homing signal to the robot.
void	send_clear_positions_signal (const VectorXi &clear_positions_signal)
	Send a signal to clear positions on the controller side.
void	send_watchdog_trigger (const bool &watchdog_trigger_status, const double &period_in_seconds=1.0, const double &maximum_acceptable_delay=0.5)
	Trigger the watchdog from the client.
void	send_shutdown_signal ()
	Request a shutdown via the robot driver topics.
VectorXd	get_joint_positions () const
	Get the last received joint positions.
VectorXd	get_joint_velocities () const
	Get the last received joint velocities.
VectorXd	get_joint_forces () const
	Get the last received joint forces.
std::tuple< VectorXd, VectorXd >	get_joint_limits () const
	Retrieve the joint limits as a tuple (min, max).
VectorXi	get_home_states () const
	Get the last received home states vector.
bool	is_enabled (const RobotDriver::Functionality &supported_functionality=RobotDriver::Functionality::PositionControl) const
	Check whether the client is enabled for a given functionality.
std::string	get_topic_prefix () const
	Get the configured topic prefix.

Detailed Description

Client interface for robot driver ROS topics.

RobotDriverClient provides helpers to publish target joint commands and control signals, and to subscribe to feedback topics such as joint states, joint limits and home state. It supports optional mode blacklisting to disable certain functionalities from the client side.

Constructor & Destructor Documentation

RobotDriverClient()

sas::RobotDriverClient::RobotDriverClient	(	const std::shared_ptr< Node > &	node,
		const std::string	topic_prefix = "GET_FROM_NODE",
		const std::vector< MODE_BLACKLIST_FLAG > &	blacklisted_modes = std::vector<MODE_BLACKLIST_FLAG>{}
	)

Construct a new RobotDriverClient.

Parameters

node	Shared pointer to the rclcpp::Node used for communication.
topic_prefix	Topic prefix used to compose topic/service names. Defaults to "GET_FROM_NODE".
blacklisted_modes	Optional list of modes to blacklist/disable on the client side.

Member Function Documentation

get_home_states()

VectorXi sas::RobotDriverClient::get_home_states

(

)

const

Get the last received home states vector.

Returns

VectorXi Home states per joint.

get_joint_forces()

VectorXd sas::RobotDriverClient::get_joint_forces

(

)

const

Get the last received joint forces.

Returns

VectorXd Joint forces vector.

get_joint_limits()

std::tuple< VectorXd, VectorXd > sas::RobotDriverClient::get_joint_limits

(

)

const

Retrieve the joint limits as a tuple (min, max).

Returns

std::tuple<VectorXd, VectorXd> Pair of vectors (min_limits, max_limits).

get_joint_positions()

VectorXd sas::RobotDriverClient::get_joint_positions

(

)

const

Get the last received joint positions.

Returns

VectorXd Joint positions vector.

get_joint_velocities()

VectorXd sas::RobotDriverClient::get_joint_velocities

(

)

const

Get the last received joint velocities.

Returns

VectorXd Joint velocities vector.

get_topic_prefix()

std::string sas::RobotDriverClient::get_topic_prefix

(

)

const

Get the configured topic prefix.

Returns

std::string Topic prefix used by this client.

is_enabled()

bool sas::RobotDriverClient::is_enabled

(

const RobotDriver::Functionality &

supported_functionality = RobotDriver::Functionality::PositionControl

)

const

Check whether the client is enabled for a given functionality.

Parameters

supported_functionality

The functionality to check (default: PositionControl).

Returns

true if enabled, false otherwise.

send_clear_positions_signal()

void sas::RobotDriverClient::send_clear_positions_signal

(

const VectorXi &

clear_positions_signal

)

Send a signal to clear positions on the controller side.

Parameters

clear_positions_signal

Vector of integers representing clear position commands per joint.

send_homing_signal()

void sas::RobotDriverClient::send_homing_signal

(

const VectorXi &

homing_signal

)

Send a homing signal to the robot.

Parameters

homing_signal

Vector of integers representing homing signals per joint.

send_shutdown_signal()

void sas::RobotDriverClient::send_shutdown_signal

(

)

Request a shutdown via the robot driver topics.

RobotDriverClient::send_shutdown_signal this method sends a signal to stop the server.

send_target_joint_forces()

void sas::RobotDriverClient::send_target_joint_forces

(

const VectorXd &

target_joint_forces

)

Publish target joint forces/torques.

Parameters

target_joint_forces

Vector containing desired joint forces/torques.

send_target_joint_positions()

void sas::RobotDriverClient::send_target_joint_positions

(

const VectorXd &

target_joint_positions

)

Publish target joint positions.

Parameters

target_joint_positions

Vector containing desired joint positions.

send_target_joint_velocities()

void sas::RobotDriverClient::send_target_joint_velocities

(

const VectorXd &

target_joint_velocities

)

Publish target joint velocities.

Parameters

target_joint_velocities

Vector containing desired joint velocities.

send_watchdog_trigger()

void sas::RobotDriverClient::send_watchdog_trigger	(	const bool &	watchdog_trigger_status,
		const double &	period_in_seconds = 1.0,
		const double &	maximum_acceptable_delay = 0.5
	)

Trigger the watchdog from the client.

RobotDriverClient::send_watchdog_trigger sends the Watchdog trigger.

Parameters

watchdog_trigger_status	true keep watchdog alive, false to kill.
period_in_seconds	Watchdog period in seconds (default: 1.0).
maximum_acceptable_delay	Maximum acceptable delay in seconds for the watchdog (default: 0.5).
watchdog_trigger_status	The desired status for the Watchdog
period_in_seconds	The desired period in seconds.
maximum_acceptable_delay.	The maximum allowed difference between the timepoint sent by the client and the timepoint registered by the server. This delay could be related to unsynchronised clocks between different computers or network delays.

---

The documentation for this class was generated from the following files:

• src/sas_robot_driver/include/sas_robot_driver/sas_robot_driver_client.hpp
• src/sas_robot_driver/src/sas_robot_driver_client.cpp