mc_rtc::ROSBridge Struct Reference

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

#include </home/runner/work/mc_rtc/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 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	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

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

Update the robot publisher state

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

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

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