kaco::JointStateSubscriber Class Reference

This class provides a Subscriber implementation for use with kaco::Bridge and a CiA 402 motor device. It listens for JointState messages from ROS common_messages package and updates the motor device accordingly. More...

#include <joint_state_subscriber.h>

Inheritance diagram for kaco::JointStateSubscriber:

Collaboration diagram for kaco::JointStateSubscriber:

Public Member Functions
	JointStateSubscriber (Device &device, int32_t position_0_degree, int32_t position_360_degree, std::string topic_name="")
	Constructor. More...
void	advertise () override

Detailed Description

This class provides a Subscriber implementation for use with kaco::Bridge and a CiA 402 motor device. It listens for JointState messages from ROS common_messages package and updates the motor device accordingly.

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

Definition at line 54 of file joint_state_subscriber.h.

Constructor & Destructor Documentation

kaco::JointStateSubscriber::JointStateSubscriber	(	Device &	device,
		int32_t	position_0_degree,
		int32_t	position_360_degree,
		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.
topic_name	Custom topic name. Leave out for default.

Exceptions

std::runtime_error

if device is not CiA 402 compliant and in position_mode.

Definition at line 44 of file joint_state_subscriber.cpp.

Member Function Documentation

void kaco::JointStateSubscriber::advertise ( )

overridevirtual

See also

interface Subscriber

Implements kaco::Subscriber.

Definition at line 74 of file joint_state_subscriber.cpp.

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

• ros_bridge/include/joint_state_subscriber.h
• ros_bridge/src/joint_state_subscriber.cpp