Plugin item to publish topics and broadcast TF of pose and velocity of the model. More...

#include <PosePublisherItem.h>

Inheritance diagram for CnoidRosUtils::PosePublisherItem:

Collaboration diagram for CnoidRosUtils::PosePublisherItem:

Public Member Functions
	PosePublisherItem ()

	PosePublisherItem (const PosePublisherItem &org)

	~PosePublisherItem ()

Static Public Member Functions
static void	initialize (cnoid::ExtensionManager *ext)

Static Public Attributes
static bool	initialized_ = false

Protected Member Functions
virtual cnoid::Item *	doDuplicate () const override

virtual void	doPutProperties (cnoid::PutPropertyFunction &putProperty) override

virtual bool	store (cnoid::Archive &archive) override

virtual bool	restore (const cnoid::Archive &archive) override

void	setup ()

bool	start ()

void	stop ()

void	onPostDynamics ()

int	getPubSkip () const

Protected Attributes
cnoid::WorldItemPtr	world_

cnoid::SimulatorItemPtr	sim_

std::set< std::string >	hooked_sims_

int	post_dynamics_func_id_ = -1

cnoid::BodyItem *	body_item_

std::string	link_name_ = ""

bool	output_tf_ = false

rclcpp::Node::SharedPtr	nh_

std::string	frame_id_ = ""

std::string	pose_topic_name_ = ""

std::string	vel_topic_name_ = ""

std::string	tf_child_frame_id_ = ""

double	pub_rate_ = 30.0

rclcpp::Publisher< geometry_msgs::msg::PoseStamped >::SharedPtr	pose_pub_

rclcpp::Publisher< geometry_msgs::msg::TwistStamped >::SharedPtr	vel_pub_

std::shared_ptr< tf2_ros::TransformBroadcaster >	tf_br_

int	sim_cnt_ = 0

int	pub_skip_ = 0

Detailed Description

Plugin item to publish topics and broadcast TF of pose and velocity of the model.

Properties

Link name: target link name (root link if empty)
Frame id: frame id in the header of topic or TF
Pose topic name (only for topic output): pose topic name (cnoid/<body-name>/pose if empty) [used only when Output TF is false]
Velocity topic name (only for topic output): velocity topic name (cnoid/<body-name>/vel if empty) [used only when Output TF is false]
TF frame id (only for TF output): child frame id of TF (<link-name> if empty) [used only when Output TF is true]
Publish rate: rate of publish and broadcast
Output TF: if true, broadcast TF, if false, publish topics

Definition at line 31 of file PosePublisherItem.h.

Constructor & Destructor Documentation

◆ PosePublisherItem() [1/2]

PosePublisherItem::PosePublisherItem ( )

Definition at line 35 of file PosePublisherItem.cpp.

◆ PosePublisherItem() [2/2]

PosePublisherItem::PosePublisherItem ( const PosePublisherItem & org )

Definition at line 40 of file PosePublisherItem.cpp.

◆ ~PosePublisherItem()

PosePublisherItem::~PosePublisherItem ( )

Definition at line 48 of file PosePublisherItem.cpp.

Member Function Documentation

◆ doDuplicate()

cnoid::Item * PosePublisherItem::doDuplicate ( ) const

overrideprotectedvirtual

Definition at line 53 of file PosePublisherItem.cpp.

◆ doPutProperties()

void PosePublisherItem::doPutProperties ( cnoid::PutPropertyFunction & putProperty )

overrideprotectedvirtual

Definition at line 58 of file PosePublisherItem.cpp.

◆ getPubSkip()

int PosePublisherItem::getPubSkip ( ) const

protected

Definition at line 259 of file PosePublisherItem.cpp.

◆ initialize()

void PosePublisherItem::initialize ( cnoid::ExtensionManager * ext )

static

Definition at line 18 of file PosePublisherItem.cpp.

◆ onPostDynamics()

void PosePublisherItem::onPostDynamics ( )

protected

Definition at line 185 of file PosePublisherItem.cpp.

◆ restore()

bool PosePublisherItem::restore ( const cnoid::Archive & archive )

overrideprotectedvirtual

Definition at line 92 of file PosePublisherItem.cpp.

◆ setup()

void PosePublisherItem::setup ( )

protected

Definition at line 105 of file PosePublisherItem.cpp.

◆ start()

bool PosePublisherItem::start ( )

protected

Definition at line 128 of file PosePublisherItem.cpp.

◆ stop()

void PosePublisherItem::stop ( )

protected

Definition at line 175 of file PosePublisherItem.cpp.

◆ store()

bool PosePublisherItem::store ( cnoid::Archive & archive )

overrideprotectedvirtual

Definition at line 79 of file PosePublisherItem.cpp.

Member Data Documentation

◆ body_item_

cnoid::BodyItem* CnoidRosUtils::PosePublisherItem::body_item_

protected

Definition at line 72 of file PosePublisherItem.h.

◆ frame_id_

std::string CnoidRosUtils::PosePublisherItem::frame_id_ = ""

protected

Definition at line 79 of file PosePublisherItem.h.

◆ hooked_sims_

std::set<std::string> CnoidRosUtils::PosePublisherItem::hooked_sims_

protected

Definition at line 68 of file PosePublisherItem.h.

◆ initialized_

bool CnoidRosUtils::PosePublisherItem::initialized_ = false

inlinestatic

Definition at line 36 of file PosePublisherItem.h.

◆ link_name_

std::string CnoidRosUtils::PosePublisherItem::link_name_ = ""

protected

Definition at line 74 of file PosePublisherItem.h.

◆ nh_

rclcpp::Node::SharedPtr CnoidRosUtils::PosePublisherItem::nh_

protected

Definition at line 78 of file PosePublisherItem.h.

◆ output_tf_

bool CnoidRosUtils::PosePublisherItem::output_tf_ = false

protected

Definition at line 76 of file PosePublisherItem.h.

◆ pose_pub_

rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr CnoidRosUtils::PosePublisherItem::pose_pub_

protected

Definition at line 84 of file PosePublisherItem.h.

◆ pose_topic_name_

std::string CnoidRosUtils::PosePublisherItem::pose_topic_name_ = ""

protected

Definition at line 80 of file PosePublisherItem.h.

◆ post_dynamics_func_id_

int CnoidRosUtils::PosePublisherItem::post_dynamics_func_id_ = -1

protected

Definition at line 70 of file PosePublisherItem.h.

◆ pub_rate_

double CnoidRosUtils::PosePublisherItem::pub_rate_ = 30.0

protected

Definition at line 83 of file PosePublisherItem.h.

◆ pub_skip_

int CnoidRosUtils::PosePublisherItem::pub_skip_ = 0

protected

Definition at line 89 of file PosePublisherItem.h.

◆ sim_

cnoid::SimulatorItemPtr CnoidRosUtils::PosePublisherItem::sim_

protected

Definition at line 66 of file PosePublisherItem.h.

◆ sim_cnt_

int CnoidRosUtils::PosePublisherItem::sim_cnt_ = 0

protected

Definition at line 88 of file PosePublisherItem.h.

◆ tf_br_

std::shared_ptr<tf2_ros::TransformBroadcaster> CnoidRosUtils::PosePublisherItem::tf_br_

protected

Definition at line 86 of file PosePublisherItem.h.

◆ tf_child_frame_id_

std::string CnoidRosUtils::PosePublisherItem::tf_child_frame_id_ = ""

protected

Definition at line 82 of file PosePublisherItem.h.

◆ vel_pub_

rclcpp::Publisher<geometry_msgs::msg::TwistStamped>::SharedPtr CnoidRosUtils::PosePublisherItem::vel_pub_

protected

Definition at line 85 of file PosePublisherItem.h.

◆ vel_topic_name_

std::string CnoidRosUtils::PosePublisherItem::vel_topic_name_ = ""

protected

Definition at line 81 of file PosePublisherItem.h.

◆ world_

cnoid::WorldItemPtr CnoidRosUtils::PosePublisherItem::world_

protected

Definition at line 65 of file PosePublisherItem.h.

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

/home/runner/work/CnoidRosUtils/CnoidRosUtils/plugin/PosePublisherItem.h
/home/runner/work/CnoidRosUtils/CnoidRosUtils/plugin/PosePublisherItem.cpp

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PosePublisherItem() [1/2]

◆ PosePublisherItem() [2/2]

◆ ~PosePublisherItem()

Member Function Documentation

◆ doDuplicate()

◆ doPutProperties()

◆ getPubSkip()

◆ initialize()

◆ onPostDynamics()

◆ restore()

◆ setup()

◆ start()

◆ stop()

◆ store()

Member Data Documentation

◆ body_item_

◆ frame_id_

◆ hooked_sims_

◆ initialized_

◆ link_name_

◆ nh_

◆ output_tf_

◆ pose_pub_

◆ pose_topic_name_

◆ post_dynamics_func_id_

◆ pub_rate_

◆ pub_skip_

◆ sim_

◆ sim_cnt_

◆ tf_br_

◆ tf_child_frame_id_

◆ vel_pub_

◆ vel_topic_name_

◆ world_