This class contains the ros interfaces for CurrentStateMontior. More...

#include <current_state_monitor_middleware_handle.hpp>

Inheritance diagram for planning_scene_monitor::CurrentStateMonitorMiddlewareHandle:

Collaboration diagram for planning_scene_monitor::CurrentStateMonitorMiddlewareHandle:

Public Member Functions
	CurrentStateMonitorMiddlewareHandle (const rclcpp::Node::SharedPtr &node)
	Constructor.

rclcpp::Time	now () const override
	Get the current time.

void	createJointStateSubscription (const std::string &topic, JointStateUpdateCallback callback) override
	Creates a joint state subscription.

void	createStaticTfSubscription (std::function< void(const tf2_msgs::msg::TFMessage::ConstSharedPtr)> callback) override
	Creates a static transform message subscription.

void	createDynamicTfSubscription (std::function< void(const tf2_msgs::msg::TFMessage::ConstSharedPtr)> callback) override
	Creates a dynamic transform message subscription.

void	resetJointStateSubscription () override
	Reset the joint state subscription.

std::string	getJointStateTopicName () const override
	Get the joint state topic name.

bool	sleepFor (const std::chrono::nanoseconds &nanoseconds) const override
	Uses rclcpp::sleep_for to sleep.

bool	ok () const override
	Uses rclcpp::ok to check the context status.

std::string	getStaticTfTopicName () const override
	Get the static transform topic name.

std::string	getDynamicTfTopicName () const override
	Get the dynamic transform topic name.

void	resetTfSubscriptions () override
	Reset the static & dynamic transform subscriptions.

Public Member Functions inherited from planning_scene_monitor::CurrentStateMonitor::MiddlewareHandle
virtual	~MiddlewareHandle ()=default
	Destroys the object.

virtual void	createStaticTfSubscription (TfCallback callback)=0
	Creates a static transform message subscription.

virtual void	createDynamicTfSubscription (TfCallback callback)=0
	Creates a dynamic transform message subscription.

Additional Inherited Members
Public Types inherited from planning_scene_monitor::CurrentStateMonitor::MiddlewareHandle
using	TfCallback = std::function< void(const tf2_msgs::msg::TFMessage::ConstSharedPtr)>

Detailed Description

This class contains the ros interfaces for CurrentStateMontior.

Definition at line 52 of file current_state_monitor_middleware_handle.hpp.

Constructor & Destructor Documentation

◆ CurrentStateMonitorMiddlewareHandle()

planning_scene_monitor::CurrentStateMonitorMiddlewareHandle::CurrentStateMonitorMiddlewareHandle ( const rclcpp::Node::SharedPtr & node )

Constructor.

Parameters

[in] node The ros node

Definition at line 60 of file current_state_monitor_middleware_handle.cpp.

Member Function Documentation

◆ createDynamicTfSubscription()

void planning_scene_monitor::CurrentStateMonitorMiddlewareHandle::createDynamicTfSubscription ( std::function< void(const tf2_msgs::msg::TFMessage::ConstSharedPtr)> callback )

override

Creates a dynamic transform message subscription.

Parameters

[in] callback The callback

Definition at line 104 of file current_state_monitor_middleware_handle.cpp.

◆ createJointStateSubscription()

void planning_scene_monitor::CurrentStateMonitorMiddlewareHandle::createJointStateSubscription	(	const std::string &	topic,
		JointStateUpdateCallback	callback
	)

overridevirtual

Creates a joint state subscription.

Parameters

[in]	topic	The topic
[in]	callback	The callback

Implements planning_scene_monitor::CurrentStateMonitor::MiddlewareHandle.

Definition at line 70 of file current_state_monitor_middleware_handle.cpp.

◆ createStaticTfSubscription()

void planning_scene_monitor::CurrentStateMonitorMiddlewareHandle::createStaticTfSubscription ( std::function< void(const tf2_msgs::msg::TFMessage::ConstSharedPtr)> callback )

override

Creates a static transform message subscription.

Parameters

[in] callback The callback

Definition at line 110 of file current_state_monitor_middleware_handle.cpp.

◆ getDynamicTfTopicName()

std::string planning_scene_monitor::CurrentStateMonitorMiddlewareHandle::getDynamicTfTopicName ( ) const

overridevirtual

Get the dynamic transform topic name.

Returns: The dynamic transform topic name.

Implements planning_scene_monitor::CurrentStateMonitor::MiddlewareHandle.

Definition at line 121 of file current_state_monitor_middleware_handle.cpp.

◆ getJointStateTopicName()

std::string planning_scene_monitor::CurrentStateMonitorMiddlewareHandle::getJointStateTopicName ( ) const

overridevirtual

Get the joint state topic name.

Returns: The joint state topic name.

Implements planning_scene_monitor::CurrentStateMonitor::MiddlewareHandle.

Definition at line 82 of file current_state_monitor_middleware_handle.cpp.

◆ getStaticTfTopicName()

std::string planning_scene_monitor::CurrentStateMonitorMiddlewareHandle::getStaticTfTopicName ( ) const

overridevirtual

Get the static transform topic name.

Returns: The static transform topic name.

Implements planning_scene_monitor::CurrentStateMonitor::MiddlewareHandle.

Definition at line 116 of file current_state_monitor_middleware_handle.cpp.

◆ now()

rclcpp::Time planning_scene_monitor::CurrentStateMonitorMiddlewareHandle::now ( ) const

overridevirtual

Get the current time.

Returns: Time object representing the time when this is called

Implements planning_scene_monitor::CurrentStateMonitor::MiddlewareHandle.

Definition at line 65 of file current_state_monitor_middleware_handle.cpp.

◆ ok()

bool planning_scene_monitor::CurrentStateMonitorMiddlewareHandle::ok ( ) const

overridevirtual

Uses rclcpp::ok to check the context status.

Returns: Return of rclcpp::ok

Implements planning_scene_monitor::CurrentStateMonitor::MiddlewareHandle.

Definition at line 99 of file current_state_monitor_middleware_handle.cpp.

◆ resetJointStateSubscription()

void planning_scene_monitor::CurrentStateMonitorMiddlewareHandle::resetJointStateSubscription ( )

overridevirtual

Reset the joint state subscription.

Implements planning_scene_monitor::CurrentStateMonitor::MiddlewareHandle.

Definition at line 77 of file current_state_monitor_middleware_handle.cpp.

◆ resetTfSubscriptions()

void planning_scene_monitor::CurrentStateMonitorMiddlewareHandle::resetTfSubscriptions ( )

overridevirtual

Reset the static & dynamic transform subscriptions.

Implements planning_scene_monitor::CurrentStateMonitor::MiddlewareHandle.

Definition at line 126 of file current_state_monitor_middleware_handle.cpp.

◆ sleepFor()

bool planning_scene_monitor::CurrentStateMonitorMiddlewareHandle::sleepFor ( const std::chrono::nanoseconds & nanoseconds ) const

overridevirtual

Uses rclcpp::sleep_for to sleep.

Parameters

[in] nanoseconds The nanoseconds to sleep for

Returns: Return of rclcpp::sleep_for

Implements planning_scene_monitor::CurrentStateMonitor::MiddlewareHandle.

Definition at line 94 of file current_state_monitor_middleware_handle.cpp.

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

moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor_middleware_handle.hpp
moveit_ros/planning/planning_scene_monitor/src/current_state_monitor_middleware_handle.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CurrentStateMonitorMiddlewareHandle()

Member Function Documentation

◆ createDynamicTfSubscription()

◆ createJointStateSubscription()

◆ createStaticTfSubscription()

◆ getDynamicTfTopicName()

◆ getJointStateTopicName()

◆ getStaticTfTopicName()

◆ now()

◆ ok()

◆ resetJointStateSubscription()

◆ resetTfSubscriptions()

◆ sleepFor()