This class provides a Publisher implementation for use with kaco::Bridge and a CiA 402 motor device. It publishes the motor state as JointState messages from the ROS common_messages package. More...

#include <joint_state_publisher.h>

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Collaboration diagram for kaco::JointStatePublisher:

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Public Member Functions
	JointStatePublisher (Device &device, int32_t position_0_degree, int32_t position_360_degree, const std::string &position_actual_field="Position actual value", const std::string &topic_name="")
	Constructor. More...

void	advertise () override

void	publish () override

Detailed Description

This class provides a Publisher implementation for use with kaco::Bridge and a CiA 402 motor device. It publishes the motor state as JointState messages from the ROS common_messages package.

Currenty, only the motor angle is published. You have to initialize the motor on your own. The motor is expected to be in position mode.

Definition at line 51 of file joint_state_publisher.h.

Constructor & Destructor Documentation

kaco::JointStatePublisher::JointStatePublisher	(	Device &	device,
		int32_t	position_0_degree,
		int32_t	position_360_degree,
		const std::string &	position_actual_field = `"Position actual value"`,
		const std::string &	topic_name = `""`
	)

Constructor.

Parameters

device	a CiA 402 compliant motor device object
position_0_degree	The motor position (dictionary entry "Position actual value") which represents a 0 degree angle.
position_360_degree	Like position_0_degree for 360 degree state.
position_actual_field	Name of the dictionary entry to use.
topic_name	Custom topic name. Leave out for default.