Manager setup specifically for ROS. More...

Inheritance diagram for optas.templates.ROSManager:

[legend]

Collaboration diagram for optas.templates.ROSManager:

Public Member Functions
def	__init__ (self, Any rosapi, int rosver, Union[None, str] config_filename, bool record_solver_perf=False)
	Initializer for the ROSManger class. More...

None	add_subscriber (self, str topic_name, Any msg_type)
	Creates a subscriber. More...

Any	get_state (self, str topic_name)
	Get the most current message. More...

bool	is_ready (self)
	True when messages have been recieved on all topics. More...

None	publish_target (self, cs.DM target)
	Publish a target to ROS. More...

None	create_state_listener (self)
	Creates the state listener. More...

Public Member Functions inherited from optas.templates.Manager
def	__init__ (self, Union[None, str] config_filename=None, bool record_solver_perf=False)
	Initializer for the Manger class. More...

None	reset_manager (self)
	Reset basic variables in the manager. More...

float	get_solver_duration (self)
	Returns the duration of the solver. More...

bool	is_first_solve (self)
	True when the solver is being run for the first time. More...

None	setup_solver (self)
	Abstract methods. More...

None	reset (self)
	Reset the optimization problem. More...

cs.DM	get_target (self)
	Return the target from the solution. More...

Public Attributes
	rosapi
	For ROS 1, this is rospy (ie. More...

	rosver
	ROS version (i.e. More...

	Float64MultiArray
	Float array message type. More...

	target_pub
	Target publisher. More...

	msgs
	Dictionary containing messages from the state listener. More...

Public Attributes inherited from optas.templates.Manager
	config_filename

	record_solver_perf

	config

	solver

	solve

	num_solves

	solver_duration

	solution

Static Public Attributes
dictionary	state_listener = {}
	ROS state listener. More...

Private Member Functions
Any	_setup_target_publisher (self)
	Creates the target publisher. More...

None	_callback (self, Any msg, str topic_name)
	The subcriber callback. More...

Detailed Description

Manager setup specifically for ROS.

Constructor & Destructor Documentation

◆ init()

def optas.templates.ROSManager.__init__	(		self,
		Any	rosapi,
		int	rosver,
		Union[None, str]	config_filename,
		bool	record_solver_perf = `False`
	)

Initializer for the ROSManger class.

   @param rosapi For ROS 1, this is rospy (ie. import rospy, and pass the module). For ROS 2, this is the node.
   @param rosver When using ROS 1, pass 1, and if using ROS 2, pass 2.
   @param config_filename Filename for a YAML configuration file. When None is passed, it is assumed there is no configuration.
   @param record_solver_perf When true the solver duration is recorded when there is a call to solve.
   @return An instance of the ROSManager class.

Reimplemented in optas.templates.ROSPlanner.

Member Function Documentation

◆ _callback()

None optas.templates.ROSManager._callback	(		self,
		Any	msg,
		str	topic_name
	)

private

The subcriber callback.

   @param msg The message from ROS.
   @param topic_name the name of the topic the message is from.

◆ _setup_target_publisher()

Any optas.templates.ROSManager._setup_target_publisher ( self )

private

Creates the target publisher.

   @return Instance of the target publisher.

◆ add_subscriber()

None optas.templates.ROSManager.add_subscriber	(		self,
		str	topic_name,
		Any	msg_type
	)

Creates a subscriber.

   @param topic_name Name of the topic to subscribe.
   @param msg_type The message type for the given topic.

◆ create_state_listener()

None optas.templates.ROSManager.create_state_listener ( self )

Creates the state listener.

◆ get_state()

Any optas.templates.ROSManager.get_state	(		self,
		str	topic_name
	)

Get the most current message.

   @return The message from ROS. None is returned if the message is not yet received.

◆ is_ready()

bool optas.templates.ROSManager.is_ready ( self )

True when messages have been recieved on all topics.

   @return Boolean indicating if the manager is ready to use.

Reimplemented from optas.templates.Manager.

◆ publish_target()

None optas.templates.ROSManager.publish_target	(		self,
		cs.DM	target
	)

Publish a target to ROS.

   @param target The target array.

Member Data Documentation

◆ Float64MultiArray

optas.templates.ROSManager.Float64MultiArray

Float array message type.

◆ msgs

optas.templates.ROSManager.msgs

Dictionary containing messages from the state listener.

◆ rosapi

optas.templates.ROSManager.rosapi

For ROS 1, this is rospy (ie.

import rospy, and pass the module). For ROS 2, this is the node.

◆ rosver

optas.templates.ROSManager.rosver

ROS version (i.e.

1 or 2).

◆ state_listener

dictionary optas.templates.ROSManager.state_listener = {}

static

ROS state listener.

Dictionary that defines the state listener. This is used to setup subscribers that listen to the input that defines the parameters for the solver. The key should be the topic name, and the value should be the message type. E.g. "joint_states": JointState

◆ target_pub

optas.templates.ROSManager.target_pub

Target publisher.

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

templates.py

Public Member Functions

Public Attributes

Static Public Attributes

Private Member Functions