ServoRosFixture Class Reference

#include <servo_ros_fixture.hpp>

Inheritance diagram for ServoRosFixture:

Collaboration diagram for ServoRosFixture:

Protected Member Functions
void	statusCallback (const moveit_msgs::msg::ServoStatus::ConstSharedPtr &msg)
void	jointStateCallback (const sensor_msgs::msg::JointState::ConstSharedPtr &msg)
void	trajectoryCallback (const trajectory_msgs::msg::JointTrajectory::ConstSharedPtr &msg)
void	SetUp () override
void	TearDown () override
void	waitForService ()
void	waitForJointStates ()
	ServoRosFixture ()

Protected Attributes
std::shared_ptr< rclcpp::Node >	servo_test_node_
rclcpp::executors::SingleThreadedExecutor	executor_
std::thread	executor_thread_
rclcpp::Subscription< moveit_msgs::msg::ServoStatus >::SharedPtr	status_subscriber_
rclcpp::Subscription< sensor_msgs::msg::JointState >::SharedPtr	joint_state_subscriber_
rclcpp::Subscription< trajectory_msgs::msg::JointTrajectory >::SharedPtr	trajectory_subscriber_
rclcpp::Client< moveit_msgs::srv::ServoCommandType >::SharedPtr	switch_input_client_
sensor_msgs::msg::JointState	joint_states_
trajectory_msgs::msg::JointTrajectory	published_trajectory_
std::atomic< int >	status_count_
std::atomic< moveit_servo::StatusCode >	status_
std::atomic< int >	state_count_
std::atomic< int >	traj_count_

Detailed Description

Definition at line 53 of file servo_ros_fixture.hpp.

Constructor & Destructor Documentation

ServoRosFixture()

ServoRosFixture::ServoRosFixture ( )

inlineprotected

Definition at line 146 of file servo_ros_fixture.hpp.

Member Function Documentation

jointStateCallback()

void ServoRosFixture::jointStateCallback ( const sensor_msgs::msg::JointState::ConstSharedPtr &  msg )

inlineprotected

Definition at line 62 of file servo_ros_fixture.hpp.

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SetUp()

void ServoRosFixture::SetUp ( )

inlineoverrideprotected

Definition at line 74 of file servo_ros_fixture.hpp.

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statusCallback()

void ServoRosFixture::statusCallback ( const moveit_msgs::msg::ServoStatus::ConstSharedPtr &  msg )

inlineprotected

Definition at line 56 of file servo_ros_fixture.hpp.

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TearDown()

void ServoRosFixture::TearDown ( )

inlineoverrideprotected

Definition at line 102 of file servo_ros_fixture.hpp.

trajectoryCallback()

void ServoRosFixture::trajectoryCallback ( const trajectory_msgs::msg::JointTrajectory::ConstSharedPtr &  msg )

inlineprotected

Definition at line 68 of file servo_ros_fixture.hpp.

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waitForJointStates()

void ServoRosFixture::waitForJointStates ( )

inlineprotected

Definition at line 128 of file servo_ros_fixture.hpp.

waitForService()

void ServoRosFixture::waitForService ( )

inlineprotected

Definition at line 112 of file servo_ros_fixture.hpp.

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Member Data Documentation

executor_

rclcpp::executors::SingleThreadedExecutor ServoRosFixture::executor_

protected

Definition at line 153 of file servo_ros_fixture.hpp.

executor_thread_

std::thread ServoRosFixture::executor_thread_

protected

Definition at line 154 of file servo_ros_fixture.hpp.

joint_state_subscriber_

rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr ServoRosFixture::joint_state_subscriber_

protected

Definition at line 157 of file servo_ros_fixture.hpp.

joint_states_

sensor_msgs::msg::JointState ServoRosFixture::joint_states_

protected

Definition at line 161 of file servo_ros_fixture.hpp.

published_trajectory_

trajectory_msgs::msg::JointTrajectory ServoRosFixture::published_trajectory_

protected

Definition at line 162 of file servo_ros_fixture.hpp.

servo_test_node_

std::shared_ptr<rclcpp::Node> ServoRosFixture::servo_test_node_

protected

Definition at line 150 of file servo_ros_fixture.hpp.

state_count_

std::atomic<int> ServoRosFixture::state_count_

protected

Definition at line 167 of file servo_ros_fixture.hpp.

status_

std::atomic<moveit_servo::StatusCode> ServoRosFixture::status_

protected

Definition at line 165 of file servo_ros_fixture.hpp.

status_count_

std::atomic<int> ServoRosFixture::status_count_

protected

Definition at line 164 of file servo_ros_fixture.hpp.

status_subscriber_

rclcpp::Subscription<moveit_msgs::msg::ServoStatus>::SharedPtr ServoRosFixture::status_subscriber_

protected

Definition at line 156 of file servo_ros_fixture.hpp.

switch_input_client_

rclcpp::Client<moveit_msgs::srv::ServoCommandType>::SharedPtr ServoRosFixture::switch_input_client_

protected

Definition at line 159 of file servo_ros_fixture.hpp.

traj_count_

std::atomic<int> ServoRosFixture::traj_count_

protected

Definition at line 168 of file servo_ros_fixture.hpp.

trajectory_subscriber_

rclcpp::Subscription<trajectory_msgs::msg::JointTrajectory>::SharedPtr ServoRosFixture::trajectory_subscriber_

protected

Definition at line 158 of file servo_ros_fixture.hpp.

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

• moveit_ros/moveit_servo/tests/servo_ros_fixture.hpp