controlBoard_nws_ros: A controlBoard network wrapper server for ROS2. More...

#include </home/runner/work/yarp-documentation/yarp-documentation/yarp/opt-modules/yarp-devices-ros2/src/devices/controlBoard_nws_ros2/ControlBoard_nws_ros2.h>

Inheritance diagram for ControlBoard_nws_ros2:

Public Member Functions
	ControlBoard_nws_ros2 ()

	ControlBoard_nws_ros2 (const ControlBoard_nws_ros2 &)=delete

	ControlBoard_nws_ros2 (ControlBoard_nws_ros2 &&)=delete

ControlBoard_nws_ros2 &	operator= (const ControlBoard_nws_ros2 &)=delete

ControlBoard_nws_ros2 &	operator= (ControlBoard_nws_ros2 &&)=delete

	~ControlBoard_nws_ros2 () override=default

bool	close () override
	Shut the object down.

bool	open (yarp::os::Searchable &prop) override
	Initialize the object.

bool	attach (yarp::dev::PolyDriver *poly) override
	Attach to another object.

bool	detach () override
	Detach the object (you must have first called attach).

void	run () override
	Loop function.

Public Member Functions inherited from yarp::dev::DeviceDriver
	DeviceDriver ()

	DeviceDriver (const DeviceDriver &other)=delete

	DeviceDriver (DeviceDriver &&other) noexcept=delete

DeviceDriver &	operator= (const DeviceDriver &other)=delete

DeviceDriver &	operator= (DeviceDriver &&other) noexcept=delete

	~DeviceDriver () override

bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver.

bool	close () override
	Close the DeviceDriver.

virtual std::string	id () const
	Return the id assigned to the PolyDriver.

virtual void	setId (const std::string &id)
	Set the id for this device.

template<class T >
bool	view (T *&x)
	Get an interface to the device driver.

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others.

Public Member Functions inherited from yarp::os::IConfig
virtual	~IConfig ()
	Destructor.

virtual bool	configure (Searchable &config)
	Change online parameters.

Public Member Functions inherited from yarp::os::PeriodicThread
	PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative)
	Constructor.

	PeriodicThread (double period, PeriodicThreadClock clockAccuracy)
	Constructor.

virtual	~PeriodicThread ()

bool	start ()
	Call this to start the thread.

void	step ()
	Call this to "step" the thread rather than starting it.

void	stop ()
	Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called).

void	askToStop ()
	Stop the thread.

bool	isRunning () const
	Returns true when the thread is started, false otherwise.

bool	isSuspended () const
	Returns true when the thread is suspended, false otherwise.

bool	setPeriod (double period)
	Set the (new) period of the thread.

double	getPeriod () const
	Return the current period of the thread.

void	suspend ()
	Suspend the thread, the thread keeps running by doLoop is never executed.

void	resume ()
	Resume the thread if previously suspended.

void	resetStat ()
	Reset thread statistics.

double	getEstimatedPeriod () const
	Return estimated period since last reset.

void	getEstimatedPeriod (double &av, double &std) const
	Return estimated period since last reset.

unsigned int	getIterations () const
	Return the number of iterations performed since last reset.

double	getEstimatedUsed () const
	Return the estimated duration of the run() function since last reset.

void	getEstimatedUsed (double &av, double &std) const
	Return estimated duration of the run() function since last reset.

int	setPriority (int priority, int policy=-1)
	Set the priority and scheduling policy of the thread, if the OS supports that.

int	getPriority () const
	Query the current priority of the thread, if the OS supports that.

int	getPolicy () const
	Query the current scheduling policy of the thread, if the OS supports that.

Public Member Functions inherited from yarp::dev::WrapperSingle
	~WrapperSingle () override
	Destructor.

bool	attachAll (const yarp::dev::PolyDriverList &drivers) final
	Attach to a list of objects.

bool	detachAll () final
	Detach the object (you must have first called attach).

Public Member Functions inherited from yarp::dev::IWrapper
virtual	~IWrapper ()
	Destructor.

Public Member Functions inherited from yarp::dev::IMultipleWrapper
virtual	~IMultipleWrapper ()
	Destructor.

Additional Inherited Members
Protected Member Functions inherited from yarp::os::PeriodicThread
virtual bool	threadInit ()
	Initialization method.

virtual void	threadRelease ()
	Release method.

virtual void	beforeStart ()
	Called just before a new thread starts.

virtual void	afterStart (bool success)
	Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start().

Detailed Description

controlBoard_nws_ros: A controlBoard network wrapper server for ROS2.

Description of input parameters

Parameters required by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description	Notes
node_name	-	string	-	-	Yes	set the name for ROS node	must not start with a leading '/'
topic_name	-	string	-	-	Yes	set the name for ROS topic	must start with a leading '/'
msgs_name	-	string	-	-	No	set the base name for the topics and interfaces	If it is not specified, the control related topics and services will not be initialized
period	-	double	s	0.02	No	refresh period of the broadcasted values in s	optional, default 20ms

ROS message type used is sensor_msgs/JointState.msg (http://docs.ros.org/api/sensor_msgs/html/msg/JointState.html)

Definition at line 67 of file ControlBoard_nws_ros2.h.

Constructor & Destructor Documentation

◆ ControlBoard_nws_ros2() [1/3]

ControlBoard_nws_ros2::ControlBoard_nws_ros2 ( )

Definition at line 41 of file ControlBoard_nws_ros2.cpp.

◆ ControlBoard_nws_ros2() [2/3]

ControlBoard_nws_ros2::ControlBoard_nws_ros2 ( const ControlBoard_nws_ros2 & )

delete

◆ ControlBoard_nws_ros2() [3/3]

ControlBoard_nws_ros2::ControlBoard_nws_ros2 ( ControlBoard_nws_ros2 && )

delete

◆ ~ControlBoard_nws_ros2()

ControlBoard_nws_ros2::~ControlBoard_nws_ros2 ( )

overridedefault

Member Function Documentation

◆ attach()

bool ControlBoard_nws_ros2::attach ( yarp::dev::PolyDriver * driver )

overridevirtual

Attach to another object.

Parameters

driver the polydriver that you want to attach to.

Returns: true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 359 of file ControlBoard_nws_ros2.cpp.

◆ close()

bool ControlBoard_nws_ros2::close ( )

overridevirtual

Shut the object down.

You should override this.

Returns: true/false on success/failure.

Reimplemented from yarp::os::IConfig.

Definition at line 53 of file ControlBoard_nws_ros2.cpp.

◆ detach()

bool ControlBoard_nws_ros2::detach ( )

overridevirtual

Detach the object (you must have first called attach).

Returns: true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 392 of file ControlBoard_nws_ros2.cpp.

◆ open()

bool ControlBoard_nws_ros2::open ( yarp::os::Searchable & config )

overridevirtual

Initialize the object.

You should override this.

Parameters

config is a list of parameters for the object. Which parameters are effective for your object can vary.

Returns: true/false upon success/failure

Reimplemented from yarp::os::IConfig.

Definition at line 72 of file ControlBoard_nws_ros2.cpp.

◆ operator=() [1/2]

ControlBoard_nws_ros2 & ControlBoard_nws_ros2::operator= ( const ControlBoard_nws_ros2 & )

delete

◆ operator=() [2/2]

ControlBoard_nws_ros2 & ControlBoard_nws_ros2::operator= ( ControlBoard_nws_ros2 && )

delete

◆ run()

void ControlBoard_nws_ros2::run ( )

overridevirtual

Loop function.

This is the thread itself. The thread calls the run() function every <period> ms. At the end of each run, the thread will sleep the amounth of time required, taking into account the time spent inside the loop function. Example: requested period is 10ms, the run() function take 3ms to be executed, the thread will sleep for 7ms.

Note: after each run is completed, the thread will call a yield() in order to facilitate other threads to run.

Implements yarp::os::PeriodicThread.

Definition at line 429 of file ControlBoard_nws_ros2.cpp.

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

opt-modules/yarp-devices-ros2/src/devices/controlBoard_nws_ros2/ControlBoard_nws_ros2.h
opt-modules/yarp-devices-ros2/src/devices/controlBoard_nws_ros2/ControlBoard_nws_ros2.cpp
opt-modules/yarp-devices-ros2/src/devices/controlBoard_nws_ros2/ControlBoard_nws_ros2_callbacks.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Description of input parameters

Constructor & Destructor Documentation

◆ ControlBoard_nws_ros2() [1/3]

◆ ControlBoard_nws_ros2() [2/3]

◆ ControlBoard_nws_ros2() [3/3]

◆ ~ControlBoard_nws_ros2()

Member Function Documentation

◆ attach()

◆ close()

◆ detach()

◆ open()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ run()