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| | ControlBoard_nws_ros () |
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| | ControlBoard_nws_ros (const ControlBoard_nws_ros &)=delete |
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| | ControlBoard_nws_ros (ControlBoard_nws_ros &&)=delete |
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| ControlBoard_nws_ros & | operator= (const ControlBoard_nws_ros &)=delete |
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| ControlBoard_nws_ros & | operator= (ControlBoard_nws_ros &&)=delete |
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| | ~ControlBoard_nws_ros () override=default |
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| bool | close () override |
| | Close the DeviceDriver.
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| bool | open (yarp::os::Searchable &prop) override |
| | Open the DeviceDriver.
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| bool | attach (yarp::dev::PolyDriver *poly) override |
| | Attach to another object.
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| bool | detach () override |
| | Detach the object (you must have first called attach).
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| void | run () override |
| | Loop function.
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| | DeviceDriver () |
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| | DeviceDriver (const DeviceDriver &other)=delete |
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| | DeviceDriver (DeviceDriver &&other) noexcept=delete |
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| DeviceDriver & | operator= (const DeviceDriver &other)=delete |
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| DeviceDriver & | operator= (DeviceDriver &&other) noexcept=delete |
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| virtual | ~DeviceDriver () |
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| virtual std::string | id () const |
| | Return the id assigned to the PolyDriver.
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| virtual void | setId (const std::string &id) |
| | Set the id for this device.
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| template<class T > |
| bool | view (T *&x) |
| | Get an interface to the device driver.
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| virtual DeviceDriver * | getImplementation () |
| | Some drivers are bureaucrats, pointing at others.
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| | PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative) |
| | Constructor.
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| | PeriodicThread (double period, PeriodicThreadClock clockAccuracy) |
| | Constructor.
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| virtual | ~PeriodicThread () |
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| bool | start () |
| | Call this to start the thread.
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| void | step () |
| | Call this to "step" the thread rather than starting it.
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| void | stop () |
| | Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called).
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| void | askToStop () |
| | Stop the thread.
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| bool | isRunning () const |
| | Returns true when the thread is started, false otherwise.
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| bool | isSuspended () const |
| | Returns true when the thread is suspended, false otherwise.
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| bool | setPeriod (double period) |
| | Set the (new) period of the thread.
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| double | getPeriod () const |
| | Return the current period of the thread.
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| void | suspend () |
| | Suspend the thread, the thread keeps running by doLoop is never executed.
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| void | resume () |
| | Resume the thread if previously suspended.
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| void | resetStat () |
| | Reset thread statistics.
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| double | getEstimatedPeriod () const |
| | Return estimated period since last reset.
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| void | getEstimatedPeriod (double &av, double &std) const |
| | Return estimated period since last reset.
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| unsigned int | getIterations () const |
| | Return the number of iterations performed since last reset.
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| double | getEstimatedUsed () const |
| | Return the estimated duration of the run() function since last reset.
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| void | getEstimatedUsed (double &av, double &std) const |
| | Return estimated duration of the run() function since last reset.
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| int | setPriority (int priority, int policy=-1) |
| | Set the priority and scheduling policy of the thread, if the OS supports that.
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| int | getPriority () const |
| | Query the current priority of the thread, if the OS supports that.
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| int | getPolicy () const |
| | Query the current scheduling policy of the thread, if the OS supports that.
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| | ~WrapperSingle () override |
| | Destructor.
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| bool | attachAll (const yarp::dev::PolyDriverList &drivers) final |
| | Attach to a list of objects.
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| bool | detachAll () final |
| | Detach the object (you must have first called attach).
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| virtual | ~IWrapper () |
| | Destructor.
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| virtual | ~IMultipleWrapper () |
| | Destructor.
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controlBoard_nws_ros: A controlBoard network wrapper server for ROS.
Description of input parameters
Parameters required by this device are:
| Parameter name | SubParameter | Type | Units | Default Value | Required | Description | Notes |
| node_name | - | string | - | - | Yes | set the name for ROS node | must start with a leading '/' |
| topic_name | - | string | - | - | Yes | set the name for ROS topic | must start with a leading '/', recommended value is /joint_states |
| period | - | double | s | 0.02 | No | refresh period of the broadcasted values in s | optional, default 20ms |
ROS message type used is sensor_msgs/JointState.msg (http://docs.ros.org/api/sensor_msgs/html/msg/JointState.html)
Definition at line 46 of file ControlBoard_nws_ros.h.
| void ControlBoard_nws_ros::run |
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| ) |
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overridevirtual |
Loop function.
This is the thread itself. The thread calls the run() function every <period> ms. At the end of each run, the thread will sleep the amounth of time required, taking into account the time spent inside the loop function. Example: requested period is 10ms, the run() function take 3ms to be executed, the thread will sleep for 7ms.
Note: after each run is completed, the thread will call a yield() in order to facilitate other threads to run.
Implements yarp::os::PeriodicThread.
Definition at line 231 of file ControlBoard_nws_ros.cpp.
Inheritance diagram for ControlBoard_nws_ros:
1.9.8 