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YARP
Yet Another Robot Platform
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YARP
Yet Another Robot Platform
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WrenchStampedRosPublisher: This wrapper connects to a device and publishes a ROS topic of type geometry_msgs::WrenchStamped.
More...
#include <multipleAnalogSensorsRosPublishers/WrenchStampedRosPublisher.h>
Inheritance diagram for WrenchStampedRosPublisher:Public Member Functions | |
| void | run () override |
| Loop function. More... | |
| Public Member Functions inherited from GenericSensorRosPublisher< yarp::rosmsg::geometry_msgs::WrenchStamped > | |
| GenericSensorRosPublisher () | |
| virtual | ~GenericSensorRosPublisher () |
| bool | open (yarp::os::Searchable ¶ms) override |
| Open the DeviceDriver. More... | |
| bool | close () override |
| Close the DeviceDriver. More... | |
| bool | attachAll (const yarp::dev::PolyDriverList &p) override |
| Attach to a list of objects. More... | |
| bool | detachAll () override |
| Detach the object (you must have first called attach). More... | |
| void | threadRelease () override |
| Release method. More... | |
| void | run () override |
| Loop function. More... | |
| Public Member Functions inherited from yarp::os::PeriodicThread | |
| PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No) | |
| Constructor. More... | |
| virtual | ~PeriodicThread () |
| bool | start () |
| Call this to start the thread. More... | |
| void | step () |
| Call this to "step" the thread rather than starting it. More... | |
| void | stop () |
| Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called). More... | |
| void | askToStop () |
| Stop the thread. More... | |
| bool | isRunning () const |
| Returns true when the thread is started, false otherwise. More... | |
| bool | isSuspended () const |
| Returns true when the thread is suspended, false otherwise. More... | |
| bool | setPeriod (double period) |
| Set the (new) period of the thread. More... | |
| double | getPeriod () const |
| Return the current period of the thread. More... | |
| void | suspend () |
| Suspend the thread, the thread keeps running by doLoop is never executed. More... | |
| void | resume () |
| Resume the thread if previously suspended. More... | |
| void | resetStat () |
| Reset thread statistics. More... | |
| double | getEstimatedPeriod () const |
| Return estimated period since last reset. More... | |
| void | getEstimatedPeriod (double &av, double &std) const |
| Return estimated period since last reset. More... | |
| unsigned int | getIterations () const |
| Return the number of iterations performed since last reset. More... | |
| double | getEstimatedUsed () const |
| Return the estimated duration of the run() function since last reset. More... | |
| void | getEstimatedUsed (double &av, double &std) const |
| Return estimated duration of the run() function since last reset. More... | |
| int | setPriority (int priority, int policy=-1) |
| Set the priority and scheduling policy of the thread, if the OS supports that. More... | |
| int | getPriority () const |
| Query the current priority of the thread, if the OS supports that. More... | |
| int | getPolicy () const |
| Query the current scheduling policy of the thread, if the OS supports that. More... | |
| Public Member Functions inherited from yarp::dev::DeviceDriver | |
| ~DeviceDriver () override=default | |
| Destructor. More... | |
| template<class T > | |
| bool | view (T *&x) |
| Get an interface to the device driver. More... | |
| virtual DeviceDriver * | getImplementation () |
| Some drivers are bureaucrats, pointing at others. More... | |
| Public Member Functions inherited from yarp::os::IConfig | |
| virtual | ~IConfig () |
| Destructor. More... | |
| virtual bool | configure (Searchable &config) |
| Change online parameters. More... | |
| Public Member Functions inherited from yarp::dev::IMultipleWrapper | |
| virtual | ~IMultipleWrapper () |
| Destructor. More... | |
Protected Member Functions | |
| bool | viewInterfaces () override |
| Protected Member Functions inherited from yarp::os::PeriodicThread | |
| virtual bool | threadInit () |
| Initialization method. More... | |
| virtual void | beforeStart () |
| Called just before a new thread starts. More... | |
| virtual void | afterStart (bool success) |
| Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start(). More... | |
Additional Inherited Members | |
| Protected Attributes inherited from GenericSensorRosPublisher< yarp::rosmsg::geometry_msgs::WrenchStamped > | |
| double | m_periodInS |
| std::string | m_publisherName |
| std::string | m_rosNodeName |
| yarp::os::Node * | m_rosNode |
| yarp::os::Publisher< yarp::rosmsg::geometry_msgs::WrenchStamped > | m_publisher |
| yarp::dev::PolyDriver * | m_poly |
| size_t | m_msg_counter |
| double | m_timestamp |
| std::string | m_framename |
| const size_t | m_sens_index |
| yarp::dev::PolyDriver | m_subdevicedriver |
WrenchStampedRosPublisher: This wrapper connects to a device and publishes a ROS topic of type geometry_msgs::WrenchStamped.
| YARP device name |
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WrenchStampedRosPublisher |
The parameters accepted by this device are:
| Parameter name | SubParameter | Type | Units | Default Value | Required | Description | Notes |
|---|---|---|---|---|---|---|---|
| topic | - | string | - | - | Yes | The name of the ROS topic opened by this device. | MUST start with a '/' character |
| node_name | - | string | - | $topic + "_node" | No | The name of the ROS node opened by this device | Autogenerated by default |
| period | - | double | s | - | Yes | Refresh period of the broadcasted values in seconds |
Definition at line 32 of file WrenchStampedRosPublisher.h.
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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 21 of file WrenchStampedRosPublisher.cpp.
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overrideprotectedvirtual |
Implements GenericSensorRosPublisher< yarp::rosmsg::geometry_msgs::WrenchStamped >.
Definition at line 13 of file WrenchStampedRosPublisher.cpp.
1.8.20 