sas::RobotDriverROS Class Reference

ROS integration helper for a RobotDriver implementation. More...

#include <sas_robot_driver_ros.hpp>

Public Member Functions
	RobotDriverROS (const RobotDriverROS &)=delete
	RobotDriverROS (std::shared_ptr< Node > &node, const std::shared_ptr< RobotDriver > &robot_driver, const RobotDriverROSConfiguration &configuration, const std::shared_ptr< ShutdownSignaler > &shutdown_signaler_)
	Construct a new RobotDriverROS object.
	RobotDriverROS (std::shared_ptr< Node > &node, const std::shared_ptr< RobotDriver > &robot_driver, const RobotDriverROSConfiguration &configuration, std::atomic_bool *kill_this_node)
	~RobotDriverROS ()
	Destructor; stops the control loop and performs cleanup.
int	control_loop ()
	Run the control loop.

Detailed Description

ROS integration helper for a RobotDriver implementation.

RobotDriverROS manages the ROS node, integrates a RobotDriver instance with ROS topics/services and runs the control loop. It also manages watchdog handling and shutdown signaling between ROS and the RobotDriver.

Constructor & Destructor Documentation

RobotDriverROS()

sas::RobotDriverROS::RobotDriverROS	(	std::shared_ptr< Node > &	node,
		const std::shared_ptr< RobotDriver > &	robot_driver,
		const RobotDriverROSConfiguration &	configuration,
		const std::shared_ptr< ShutdownSignaler > &	shutdown_signaler_
	)

Construct a new RobotDriverROS object.

Parameters

node	Shared pointer to the rclcpp::Node used for ROS communication.
robot_driver	Shared pointer to the RobotDriver implementation to be wrapped.
configuration	Configuration parameters for ROS integration and control loop.
shutdown_signaler	Shared pointer used to signal shutdown between components.

Member Function Documentation

control_loop()

int sas::RobotDriverROS::control_loop

(

)

Run the control loop.

This method contains the main control loop and will typically run until a shutdown condition is met. Returns an integer status code on exit.

Returns

int Exit/status code.

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

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