MobileBaseVelocityControl_nws_ros Class Reference

MobileBaseVelocityControl_nws_ros: A device which allows a client application to control the velocity of a mobile base from ROS. The device opens a topic of type yarp::rosmsg::geometry_msgs::Twist to receive user commands More...

#include </home/runner/work/yarp-documentation/yarp-documentation/yarp/opt-modules/yarp-devices-ros/src/devices/mobileBaseVelocityControl_nws_ros/MobileBaseVelocityControl_nws_ros.h>

Inheritance diagram for MobileBaseVelocityControl_nws_ros:

Public Member Functions
virtual	~MobileBaseVelocityControl_nws_ros ()
	MobileBaseVelocityControl_nws_ros ()
bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver.
bool	close () override
	Close the DeviceDriver.
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
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::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.

Protected Attributes
std::string	m_ros_node_name = "/mobileBase_VelControl_nws_ros"
std::string	m_ros_topic_name = "/velocity_input"
yarp::os::Node *	m_ros_node = nullptr
commandSubscriber *	m_command_subscriber = nullptr
yarp::dev::PolyDriver	m_subdev

Detailed Description

MobileBaseVelocityControl_nws_ros: A device which allows a client application to control the velocity of a mobile base from ROS. The device opens a topic of type yarp::rosmsg::geometry_msgs::Twist to receive user commands

MobileBaseVelocityControl_nws_ros

Parameters required by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description	Notes
node_name	-	string	-	/mobileBase_VelControl_nws_ros	No	Full name of the opened ROS node
topic_name	-	string	-	/velocity_input	No	Full name of the opened ROS topic

Definition at line 54 of file MobileBaseVelocityControl_nws_ros.h.

Constructor & Destructor Documentation

~MobileBaseVelocityControl_nws_ros()

virtual MobileBaseVelocityControl_nws_ros::~MobileBaseVelocityControl_nws_ros ( )

inlinevirtual

Definition at line 67 of file MobileBaseVelocityControl_nws_ros.h.

MobileBaseVelocityControl_nws_ros()

MobileBaseVelocityControl_nws_ros::MobileBaseVelocityControl_nws_ros ( )

inline

Definition at line 68 of file MobileBaseVelocityControl_nws_ros.h.

Member Function Documentation

close()

bool MobileBaseVelocityControl_nws_ros::close ( )

overridevirtual

Close the DeviceDriver.

Returns

true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 92 of file MobileBaseVelocityControl_nws_ros.cpp.

open()

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

overridevirtual

Open the DeviceDriver.

Parameters

config

is a list of parameters for the device. Which parameters are effective for your device can vary. See device invocation examples. If there is no example for your device, you can run the "yarpdev" program with the verbose flag set to probe what parameters the device is checking. If that fails too, you'll need to read the source code (please nag one of the yarp developers to add documentation for your device).

Returns

true/false upon success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 62 of file MobileBaseVelocityControl_nws_ros.cpp.

Member Data Documentation

m_command_subscriber

commandSubscriber* MobileBaseVelocityControl_nws_ros::m_command_subscriber = nullptr

protected

Definition at line 62 of file MobileBaseVelocityControl_nws_ros.h.

m_ros_node

yarp::os::Node* MobileBaseVelocityControl_nws_ros::m_ros_node = nullptr

protected

Definition at line 61 of file MobileBaseVelocityControl_nws_ros.h.

m_ros_node_name

std::string MobileBaseVelocityControl_nws_ros::m_ros_node_name = "/mobileBase_VelControl_nws_ros"

protected

Definition at line 59 of file MobileBaseVelocityControl_nws_ros.h.

m_ros_topic_name

std::string MobileBaseVelocityControl_nws_ros::m_ros_topic_name = "/velocity_input"

protected

Definition at line 60 of file MobileBaseVelocityControl_nws_ros.h.

m_subdev

yarp::dev::PolyDriver MobileBaseVelocityControl_nws_ros::m_subdev

protected

Definition at line 64 of file MobileBaseVelocityControl_nws_ros.h.

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

• opt-modules/yarp-devices-ros/src/devices/mobileBaseVelocityControl_nws_ros/MobileBaseVelocityControl_nws_ros.h
• opt-modules/yarp-devices-ros/src/devices/mobileBaseVelocityControl_nws_ros/MobileBaseVelocityControl_nws_ros.cpp