Class CartesianMotionBase

Inheritance Relationships

Base Type

  • public rclcpp::Node

Class Documentation

class CartesianMotionBase : public rclcpp::Node

Base class for robot motion tasks.

Param node_name:

Name of the node.

Param robot_configs:

Vector of robot configurations.

Param rate:

Rate of the task execution.

Public Functions

inline explicit CartesianMotionBase(const std::string &node_name, std::vector<RobotConfig> robot_configs = {RobotConfig()}, uint16_t rate = 125)
virtual ~CartesianMotionBase() = default
void start()
inline void active()
inline void deactivate()

Protected Functions

inline virtual void on_init()

A interface for user to implement their own initialization function. Usually used for ROS related initialization.

virtual void tasks_init() = 0

A interface for user to implement their own task initialization function. Usually used for initializing the FSM tasks.

Attention

This function must be implemented by the user.

inline virtual geometry_msgs::msg::PoseStamped intepolation(geometry_msgs::msg::PoseStamped init_pose, geometry_msgs::msg::PoseStamped target_pose, double duration, double current_duration)

Interpolation between two poses. Default is linear interpolation for position and slerp for orientation.

Parameters:

  • init_pose – Initial pose.

  • target_pose – Target pose.

  • duration – Duration of the interpolation.

  • current_duration – Current time in the interpolation.

Returns:

Interpolated pose.

inline virtual geometry_msgs::msg::WrenchStamped intepolation_wrench(geometry_msgs::msg::WrenchStamped init_wrench, geometry_msgs::msg::WrenchStamped target_wrench, double duration, double current_duration)

Interpolation between two wrenches. Default is linear interpolation.

Parameters:

  • init_wrench – Initial wrench.

  • target_wrench – Target wrench.

  • duration – Duration of the interpolation.

  • current_duration – Current time in the interpolation.

Returns:

Interpolated wrench.

inline std::vector<std::string> get_robot_names()

get robot names

Returns:

vector of robot names

inline const geometry_msgs::msg::PoseStamped get_current_pose(std::string name)

get current pose for a robot by name

Parameters:

robot_name –

Returns:

current pose

inline const geometry_msgs::msg::WrenchStamped get_current_wrench(std::string name)

get current wrench for a robot by name

Parameters:

robot_name –

Returns:

current wrench

inline const geometry_msgs::msg::PoseStamped get_start_pose(std::string name)

get start pose for a robot by name

Parameters:

robot_name –

Returns:

start pose

inline const geometry_msgs::msg::WrenchStamped get_start_wrench(std::string name)

get start wrench for a robot by name

Parameters:

robot_name –

Returns:

start wrench

inline const geometry_msgs::msg::PoseStamped get_target_monitor(std::string name)

get current target monitor pose for a robot by name

Parameters:

robot_name –

Returns:

target monitor pose

inline SystemState get_system_state()

get system state

Returns:

system state. The system state includes current task number, start time, and current time.

inline void set_target_pose(PoseMap target_pose)

set target pose for a robot by name

Parameters:

  • robot_name –

  • target_pose –

inline void set_target_wrench(WrenchMap target_wrench)

set target wrench for a robot by name

Parameters:

  • robot_name –

  • target_wrench –

bool move(PoseMap target_poses, double duration)

from start_pose(initialized when this task running) to target_pose

Parameters:

  • target_poses – map of robot name and target poses

  • duration –

Returns:

finish or not

bool move_wrench(PoseMap target_poses, WrenchMap target_wrenches, double duration)

from start_pose(initialized when this task running) to target_pose

Parameters:

  • target_poses – map of robot name and target poses

  • target_wrenches – map of robot name and target wrenches

  • duration –

Returns:

finish or not

bool sleep(double duration)

sleep for a while

Parameters:

duration –

Returns:

finish or not

bool joint_move(JointMap target_joints, double time)

joint move

Parameters:

  • target_joints – map of robot name and target joint positions

  • time –

Returns:

finish or not

uint8_t task_pushback(std::shared_ptr<cartesian_motion_base::MotionTask> task)

Push back the task, the task is derived from GarmentTaskBase.

Parameters:

task –

Returns:

the task number

void task_execute()
inline void set_task_finished()

Set the task finished, go to the next task.

inline void goto_specific_task(size_t task_num)

Go to a specific task number. You can get the task number when you push back the task.

Parameters:

task_num –

inline void goto_init_task()

Go to the initial task.

inline void goto_last_task()

Go to the last task.

inline bool check_init()

Protected Attributes

SystemState system_state_
uint8_t next_task_offset_ = 1
std::thread control_loop_thread_
rclcpp::Clock my_clock_
std::vector<std::shared_ptr<cartesian_motion_base::MotionTask>> tasks_vector_
bool active_ = true