This structure is able to publish a Robot's state to ROS. More...

#include </home/runner/work/mc_rtc/mc_rtc/plugins/ROS/include/mc_rtc_ros/ros.h>

Public Member Functions
	RobotPublisher (const std::string &prefix, double rate, double dt)

	~RobotPublisher ()
	Destructor. More...

void	init (const mc_rbdyn::Robot &robot, bool use_real=false)
	Initialize the publisher. More...

void	update (double dt, const mc_rbdyn::Robot &robot)
	Update the publisher. More...

void	set_rate (double rate)
	Reset the publishing rate. More...

Detailed Description

This structure is able to publish a Robot's state to ROS.

When writing a controller inside mc_rtc controller framework, one is not expect to use this class. However, this is useful to have when building tools around the framework.

Constructor & Destructor Documentation

◆ RobotPublisher()

mc_rtc::RobotPublisher::RobotPublisher	(	const std::string &	prefix,
		double	rate,
		double	dt
	)

Constructor

If ROSBridge::get_node_handle returns a nullptr then this object does nothing.

Parameters

prefix	TF prefix
rate	Publishing rate
dt	Control rate

◆ ~RobotPublisher()

mc_rtc::RobotPublisher::~RobotPublisher ( )

Destructor.

Member Function Documentation

◆ init()

void mc_rtc::RobotPublisher::init	(	const mc_rbdyn::Robot &	robot,
		bool	use_real = `false`
	)

Initialize the publisher.

◆ set_rate()

void mc_rtc::RobotPublisher::set_rate ( double rate )

Reset the publishing rate.

◆ update()

void mc_rtc::RobotPublisher::update	(	double	dt,
		const mc_rbdyn::Robot &	robot
	)

Update the publisher.

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

plugins/ROS/include/mc_rtc_ros/ros.h

Public Member Functions