mc_rtc::ROSBridge Struct Reference

Allows to access ROS functionalities within mc_rtc without explicit ROS dependencies. More...

#include </tmp/build-mc-rtc/src/mc_rtc/plugins/ROS/include/mc_rtc_ros/ros.h>

Static Public Member Functions
static NodeHandlePtr	get_node_handle ()
	Get a ros::NodeHandle/rclcpp::Node. More...
static void	set_publisher_timestep (double timestep)
static double	get_publisher_timestep ()
static void	init_robot_publisher (const std::string &publisher, double dt, const mc_rbdyn::Robot &robot, bool use_real=false)
static void	update_robot_publisher (const std::string &publisher, double dt, const mc_rbdyn::Robot &robot)
static void	stop_robot_publisher (const std::string &publisher)
static void	remove_extra_robot_publishers (const mc_rbdyn::Robots &robots)
static void	shutdown ()
	Stop ROS. More...

Detailed Description

Allows to access ROS functionalities within mc_rtc without explicit ROS dependencies.

Member Function Documentation

get_node_handle()

static NodeHandlePtr mc_rtc::ROSBridge::get_node_handle ( )

static

Get a ros::NodeHandle/rclcpp::Node.

This function will return a nullptr if ROS is not available

Returns

A shared_ptr to a ros::NodeHandle/rclcpp::Node

get_publisher_timestep()

static double mc_rtc::ROSBridge::get_publisher_timestep ( )

static

Gets publisher timestep

Returns

Update timestep in ms

init_robot_publisher()

static void mc_rtc::ROSBridge::init_robot_publisher ( const std::string &  publisher, double  dt, const mc_rbdyn::Robot &  robot, bool  use_real = false  )

static

Initialize a robot publisher

Note

This should only be used on robots owned by the controller. Use RobotPublisher for external robots

Parameters

publisher	Name of the publisher
dt	Controller timestep
robot	Which robot to publish
use_real	Use the real URDF rather than the default one

remove_extra_robot_publishers()

static void mc_rtc::ROSBridge::remove_extra_robot_publishers ( const mc_rbdyn::Robots &  robots )

static

Remove the publisher of every removed robot

Parameters

robots

Controller's robots

set_publisher_timestep()

static void mc_rtc::ROSBridge::set_publisher_timestep ( double  timestep )

static

Set publisher timestep

Parameters

timestep

Update timestep in ms

shutdown()

static void mc_rtc::ROSBridge::shutdown ( )

static

Stop ROS.

stop_robot_publisher()

static void mc_rtc::ROSBridge::stop_robot_publisher ( const std::string &  publisher )

static

Stop the publication of a robot

Parameters

publisher

Name of the publisher

update_robot_publisher()

static void mc_rtc::ROSBridge::update_robot_publisher ( const std::string &  publisher, double  dt, const mc_rbdyn::Robot &  robot  )

static

Update the robot publisher state

Note

This should only be used on robots owned by the controller. Use RobotPublisher for external robots

Parameters

publisher	Name of the publisher
dt	Controller timestep
robot	Which robot to publish

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The documentation for this struct was generated from the following file:

• plugins/ROS/include/mc_rtc_ros/ros.h