MobileBaseVelocityControl_nws_ros: A device which allows a client application to control the velocity of a mobile base from ROS. The device opens a topic of type yarp::rosmsg::geometry_msgs::Twist to receive user commands More...

#include <mobileBaseVelocityControl_nws_ros/MobileBaseVelocityControl_nws_ros.h>

Inheritance diagram for commandSubscriber:

Public Member Functions
void	init (yarp::dev::Nav2D::INavigation2DVelocityActions *m_iNavVel)

void	deinit ()

	~commandSubscriber ()

	commandSubscriber ()

virtual void	onRead (yarp::rosmsg::geometry_msgs::Twist &v) override

Public Member Functions inherited from yarp::os::Subscriber< yarp::rosmsg::geometry_msgs::Twist >
	Subscriber (const std::string &name="")
	Constructor. More...

virtual	~Subscriber ()
	Destructor. More...

bool	topic (const std::string &name)
	Set topic to subscribe to. More...

bool	open (const std::string &name) override
	Start port operation, with a specific name, with automatically-chosen network parameters. More...

bool	open (const Contact &contact, bool registerName=true) override
	Start port operation with user-chosen network parameters. More...

void	close () override
	Stop port activity. More...

void	interrupt () override
	Interrupt any current reads or writes attached to the port. More...

void	resume () override
	Put the port back in an operative state after interrupt() has been called. More...

void	setReader (PortReader &reader) override
	Set an external reader for port data. More...

yarp::rosmsg::geometry_msgs::Twist *	read (bool shouldWait=true)
	Read a message from the port. More...

bool	read (PortReader &reader, bool willReply=false) override
	Read an object from the port. More...

Port &	asPort () override
	Get the concrete Port being used for communication. More...

const Port &	asPort () const override
	Get the concrete Port being used for communication, const version. More...

void	onRead (yarp::rosmsg::geometry_msgs::Twist &datum) override
	Callback method. More...

void	useCallback (TypedReaderCallback< yarp::rosmsg::geometry_msgs::Twist > &callback)

void	useCallback ()

void	disableCallback ()

void	setStrict (bool strict=true)

Public Member Functions inherited from yarp::os::AbstractContactable
virtual Port &	asPort ()=0
	Get the concrete Port being used for communication. More...

virtual const Port &	asPort () const =0
	Get the concrete Port being used for communication, const version. More...

bool	open (const std::string &name) override
	Start port operation, with a specific name, with automatically-chosen network parameters. More...

bool	open (const Contact &contact, bool registerName=true) override
	Start port operation with user-chosen network parameters. More...

bool	addOutput (const std::string &name) override
	Add an output connection to the specified port. More...

bool	addOutput (const std::string &name, const std::string &carrier) override
	Add an output connection to the specified port, using a specified carrier. More...

bool	addOutput (const Contact &contact) override
	Add an output connection to the specified port, using specified network parameters. More...

void	close () override
	Stop port activity. More...

void	interrupt () override
	Interrupt any current reads or writes attached to the port. More...

void	resume () override
	Put the port back in an operative state after interrupt() has been called. More...

Contact	where () const override
	Returns information about how this port can be reached. More...

std::string	getName () const override
	Get name of port. More...

bool	setEnvelope (PortWriter &envelope) override
	Set an envelope (e.g., a timestamp) to the next message which will be sent. More...

bool	getEnvelope (PortReader &envelope) override
	Get the envelope information (e.g., a timestamp) from the last message received on the port. More...

int	getInputCount () override
	Determine how many connections are arriving into this port. More...

int	getOutputCount () override
	Determine how many output connections this port has. More...

void	getReport (PortReport &reporter) override
	Get information on the state of the port - connections etc. More...

void	setReporter (PortReport &reporter) override
	Set a callback to be called upon any future connections and disconnections to/from the port. More...

void	resetReporter () override
	Remove the callback which is called upon any future connections and disconnections to/from the port. More...

bool	isWriting () override
	Report whether the port is currently writing data. More...

void	setReader (PortReader &reader) override
	Set an external reader for port data. More...

void	setAdminReader (PortReader &reader) override
	Set an external reader for unrecognized administrative port messages. More...

void	setInputMode (bool expectInput) override
	Configure the port to allow or forbid inputs. More...

void	setOutputMode (bool expectOutput) override
	Configure the port to allow or forbid outputs. More...

void	setRpcMode (bool expectRpc) override
	Configure the port to be RPC only. More...

Type	getType () override
	Get the type of data the port has committed to send/receive. More...

void	promiseType (const Type &typ) override
	Commit the port to a particular type of data. More...

Property *	acquireProperties (bool readOnly) override
	Access unstructured port properties. More...

void	releaseProperties (Property *prop) override
	End access unstructured port properties. More...

bool	write (const PortWriter &writer, const PortWriter *callback=nullptr) const override
	Write an object to the port. More...

bool	write (const PortWriter &writer, PortReader &reader, const PortWriter *callback=nullptr) const override
	Write an object to the port, then expect one back. More...

bool	read (PortReader &reader, bool willReply=false) override
	Read an object from the port. More...

bool	reply (PortWriter &writer) override
	Send an object as a reply to an object read from the port. More...

bool	replyAndDrop (PortWriter &writer) override
	Same as reply(), but closes connection after reply. More...

void	includeNodeInName (bool flag) override
	Choose whether to prepend a node name (if one is available) to the port's name. More...

bool	setCallbackLock (yarp::os::Mutex *mutex) override
	Add a lock to use when invoking callbacks. More...

bool	setCallbackLock (std::mutex *mutex=nullptr) override
	Add a lock to use when invoking callbacks. More...

bool	removeCallbackLock () override
	Remove a lock on callbacks added with setCallbackLock() More...

bool	lockCallback () override
	Lock callbacks until unlockCallback() is called. More...

bool	tryLockCallback () override
	Try to lock callbacks until unlockCallback() is called. More...

void	unlockCallback () override
	Unlock callbacks. More...

virtual bool	write (const PortWriter &writer, const PortWriter *callback=nullptr) const =0
	Write an object to the port. More...

virtual bool	write (const PortWriter &writer, PortReader &reader, const PortWriter *callback=nullptr) const =0
	Write an object to the port, then expect one back. More...

virtual bool	read (PortReader &reader, bool willReply=false)=0
	Read an object from the port. More...

virtual bool	reply (PortWriter &writer)=0
	Send an object as a reply to an object read from the port. More...

virtual bool	replyAndDrop (PortWriter &writer)=0
	Same as reply(), but closes connection after reply. More...

Public Member Functions inherited from yarp::os::Contactable
virtual	~Contactable ()
	Destructor. More...

virtual bool	open (const std::string &name)=0
	Start port operation, with a specific name, with automatically-chosen network parameters. More...

virtual bool	open (const Contact &contact, bool registerName=true)=0
	Start port operation with user-chosen network parameters. More...

virtual bool	addOutput (const std::string &name)=0
	Add an output connection to the specified port. More...

virtual bool	addOutput (const std::string &name, const std::string &carrier)=0
	Add an output connection to the specified port, using a specified carrier. More...

virtual bool	addOutput (const Contact &contact)=0
	Add an output connection to the specified port, using specified network parameters. More...

virtual void	close ()=0
	Stop port activity. More...

virtual void	interrupt ()=0
	Interrupt any current reads or writes attached to the port. More...

virtual void	resume ()=0
	Put the port back in an operative state after interrupt() has been called. More...

virtual Contact	where () const =0
	Returns information about how this port can be reached. More...

virtual std::string	getName () const
	Get name of port. More...

virtual bool	setEnvelope (PortWriter &envelope)=0
	Set an envelope (e.g., a timestamp) to the next message which will be sent. More...

virtual bool	getEnvelope (PortReader &envelope)=0
	Get the envelope information (e.g., a timestamp) from the last message received on the port. More...

virtual int	getInputCount ()=0
	Determine how many connections are arriving into this port. More...

virtual int	getOutputCount ()=0
	Determine how many output connections this port has. More...

virtual void	getReport (PortReport &reporter)=0
	Get information on the state of the port - connections etc. More...

virtual void	setReporter (PortReport &reporter)=0
	Set a callback to be called upon any future connections and disconnections to/from the port. More...

virtual void	resetReporter ()=0
	Remove the callback which is called upon any future connections and disconnections to/from the port. More...

virtual bool	isWriting ()=0
	Report whether the port is currently writing data. More...

virtual void	setReader (PortReader &reader)=0
	Set an external reader for port data. More...

virtual void	setAdminReader (PortReader &reader)=0
	Set an external reader for unrecognized administrative port messages. More...

virtual void	setInputMode (bool expectInput)=0
	Configure the port to allow or forbid inputs. More...

virtual void	setOutputMode (bool expectOutput)=0
	Configure the port to allow or forbid outputs. More...

virtual void	setRpcMode (bool expectRpc)=0
	Configure the port to be RPC only. More...

virtual Type	getType ()=0
	Get the type of data the port has committed to send/receive. More...

virtual void	promiseType (const Type &typ)=0
	Commit the port to a particular type of data. More...

virtual Property *	acquireProperties (bool readOnly)=0
	Access unstructured port properties. More...

virtual void	releaseProperties (Property *prop)=0
	End access unstructured port properties. More...

virtual void	includeNodeInName (bool flag)=0
	Choose whether to prepend a node name (if one is available) to the port's name. More...

void	setReadOnly ()
	Shorthand for setInputMode(true), setOutputMode(false), setRpcMode(false) More...

void	setWriteOnly ()
	Shorthand for setInputMode(false), setOutputMode(true), setRpcMode(false) More...

void	setRpcServer ()
	Shorthand for setInputMode(true), setOutputMode(false), setRpcMode(true) More...

void	setRpcClient ()
	Shorthand for setInputMode(false), setOutputMode(true), setRpcMode(true) More...

virtual bool	setCallbackLock (yarp::os::Mutex *mutex)=0
	Add a lock to use when invoking callbacks. More...

virtual bool	setCallbackLock (std::mutex *mutex=nullptr)=0
	Add a lock to use when invoking callbacks. More...

virtual bool	removeCallbackLock ()=0
	Remove a lock on callbacks added with setCallbackLock() More...

virtual bool	lockCallback ()=0
	Lock callbacks until unlockCallback() is called. More...

virtual bool	tryLockCallback ()=0
	Try to lock callbacks until unlockCallback() is called. More...

virtual void	unlockCallback ()=0
	Unlock callbacks. More...

Public Member Functions inherited from yarp::os::TypedReaderCallback< yarp::rosmsg::geometry_msgs::Twist >
virtual	~TypedReaderCallback ()
	Destructor. More...

virtual void	onRead (yarp::rosmsg::geometry_msgs::Twist &datum)
	Callback method. More...

virtual void	onRead (yarp::rosmsg::geometry_msgs::Twist &datum, const yarp::os::TypedReader< yarp::rosmsg::geometry_msgs::Twist > &reader)
	Callback method. More...

Public Attributes
yarp::dev::Nav2D::INavigation2DVelocityActions *	m_iNavVel = nullptr

Detailed Description

MobileBaseVelocityControl_nws_ros: A device which allows a client application to control the velocity of a mobile base from ROS. The device opens a topic of type yarp::rosmsg::geometry_msgs::Twist to receive user commands

MobileBaseVelocityControl_nws_ros

Parameters required by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description	Notes
node_name	-	string	-	/mobileBase_VelControl_nws_ros	No	Full name of the opened ROS node
topic_name	-	string	-	/velocity_input	No	Full name of the opened ROS topic
subdevice	-	string	-	-	No	name of the subdevice to instantiate	when used, parameters for the subdevice must be provided as well