#include <dds_ros_bridge.h>

Inheritance diagram for dds_ros_bridge::DdsRosBridge:

Public Member Functions
	DdsRosBridge ()

	~DdsRosBridge ()

bool	BuildAccessControlStateToRapid (const std::string &sub_topic, const std::string &name)

bool	BuildAckToRapid (const std::string &sub_topic, const std::string &name)

bool	BuildAgentStateToRapid (const std::string &sub_topic, const std::string &name)

bool	BuildArmJointSampleToRapid (const std::string &sub_topic, const std::string &name)

bool	BuildArmStateToRapid (const std::string &sub_topic, const std::string &name)

bool	BuildBatteryStateToRapid (const std::string &sub_topic_battery_state_TL, const std::string &sub_topic_battery_state_TR, const std::string &sub_topic_battery_state_BL, const std::string &sub_topic_battery_state_BR, const std::string &sub_topic_battery_temp_TL, const std::string &sub_topic_battery_temp_TR, const std::string &sub_topic_battery_temp_BL, const std::string &sub_topic_battery_temp_BR, const std::string &name)

bool	BuildCommandToRapid (const std::string &sub_topic, const std::string &ac_sub_topic, const std::string &failed_cmd_sub_topic, const std::string &name)

bool	BuildCompressedFileToRapid (const std::string &sub_topic, const std::string &name)

bool	BuildCompressedFileAckToRapid (const std::string &sub_topic, const std::string &name)

bool	BuildCompressedImageToImage (const std::string &sub_topic, const std::string &name)

bool	BuildCpuStateToRapid (const std::string &sub_topic, const std::string &name)

bool	BuildDataToDiskStateToRapid (const std::string &state_sub_topic, const std::string &topics_sub_topic, const std::string &name)

bool	BuildDiskStateToRapid (const std::string &sub_topic, const std::string &name)

bool	BuildFaultConfigToRapid (const std::string &sub_topic, const std::string &name)

bool	BuildFaultStateToRapid (const std::string &sub_topic, const std::string &name)

bool	BuildGncFamCmdStateToRapid (const std::string &sub_topic, const std::string &name)

bool	BuildGncControlStateToRapid (const std::string &sub_topic, const std::string &name)

bool	BuildGuestScienceToRapid (const std::string &state_sub_topic, const std::string &config_sub_topic, const std::string &data_sub_topic, const std::string &name)

bool	BuildInertiaDataToRapid (const std::string &sub_topic, const std::string &name)

bool	BuildLogSampleToRapid (const std::string &sub_topic, const std::string &name)

bool	BuildOdomToPosition (const std::string &sub_topic, const std::string &name)

bool	BuildPayloadStateToPayloadState (const std::string &sub_topic, const std::string &name)

bool	BuildPlanStatusToPlanStatus (const std::string &sub_topic, const std::string &name)

bool	BuildPmcCmdStateToRapid (const std::string &sub_topic, const std::string &name)

bool	BuildPoseToPosition (const std::string &sub_topic, const std::string &name)

bool	BuildStringToTextMessage (const std::string &name)

bool	BuildTelemetryToRapid (const std::string &sub_topic, const std::string &name)

bool	BuildZonesToRapidCompressedFile (const std::string &sub_topic, const std::string &zones_srv, const std::string &name)

bool	BuildCommandToCommand (const std::string &pub_topic, const std::string &name)

bool	BuildCompressedFileToCompressedFile (const std::string &pub_topic, const std::string &name)

bool	BuildCommandConfigToCommandConfig (const std::string &name)

bool	SetTelem (float rate, std::string &err_msg, RateType type)

bool	SetCommStatusRate (float rate, std::string &err_msg)

bool	SetCpuStateRate (float rate, std::string &err_msg)

bool	SetDiskStateRate (float rate, std::string &err_msg)

bool	SetEkfPositionRate (float rate, std::string &err_msg, RateType type)

bool	SetGncStateRate (float rate, std::string &err_msg)

bool	SetPmcStateRate (float rate, std::string &err_msg)

bool	SetSparseMappingPoseRate (float rate, std::string &err_msg)

bool	SetTelemRateCallback (ff_msgs::SetRate::Request &req, ff_msgs::SetRate::Response &res)

Public Member Functions inherited from ff_util::FreeFlyerNodelet
	FreeFlyerNodelet (bool autostart_hb_timer=true)

	FreeFlyerNodelet (std::string const &name, bool autostart_hb_timer=true)

virtual	~FreeFlyerNodelet ()

void	AssertFault (FaultKeys enum_key, std::string const &message, ros::Time time_fault_occurred=ros::Time::now())

void	ClearAllFaults ()

void	ClearFault (FaultKeys enum_key)

void	PrintFaults ()

ros::NodeHandle *	GetPlatformHandle (bool multithreaded=false)

ros::NodeHandle *	GetPrivateHandle (bool multithreaded=false)

std::string	GetName ()

std::string	GetPlatform ()

std::string	GetTransform (std::string const &child)

Protected Member Functions
virtual void	Initialize (ros::NodeHandle *nh)

bool	ReadTopicInfo (const std::string &topic_abbr, const std::string &sub_or_pub, std::string &sub_topic, bool &use)

bool	ReadParams ()

bool	ReadRateParams ()

Protected Member Functions inherited from ff_util::FreeFlyerNodelet
virtual void	Reset ()

virtual void	Sleep ()

virtual void	Wakeup ()

void	StopHeartbeat ()

void	SendDiagnostics (const std::vector< diagnostic_msgs::KeyValue > &keyval)

void	Setup (ros::NodeHandle &nh, ros::NodeHandle &nh_mt, std::string plugin_name)

Additional Inherited Members
Public Types inherited from ff_util::FreeFlyerNodelet
enum	ResolveType : uint8_t { NAMESPACE = 0, TRANSFORM = 1, RESOURCE = 1 }

Protected Attributes inherited from ff_util::FreeFlyerNodelet
std::map< std::string, int >	faults_

Constructor & Destructor Documentation

◆ DdsRosBridge()

dds_ros_bridge::DdsRosBridge::DdsRosBridge ( )

◆ ~DdsRosBridge()

dds_ros_bridge::DdsRosBridge::~DdsRosBridge ( )

Member Function Documentation

◆ BuildAccessControlStateToRapid()

bool dds_ros_bridge::DdsRosBridge::BuildAccessControlStateToRapid	(	const std::string &	sub_topic,
		const std::string &	name
	)

Build Ros subscribers to Rapid publishers

Parameters

subTopic topic to subscribe to ex: "/camera/image"

Returns: successful

◆ BuildAckToRapid()

bool dds_ros_bridge::DdsRosBridge::BuildAckToRapid	(	const std::string &	sub_topic,
		const std::string &	name
	)

◆ BuildAgentStateToRapid()

bool dds_ros_bridge::DdsRosBridge::BuildAgentStateToRapid	(	const std::string &	sub_topic,
		const std::string &	name
	)

◆ BuildArmJointSampleToRapid()

bool dds_ros_bridge::DdsRosBridge::BuildArmJointSampleToRapid	(	const std::string &	sub_topic,
		const std::string &	name
	)

◆ BuildArmStateToRapid()

bool dds_ros_bridge::DdsRosBridge::BuildArmStateToRapid	(	const std::string &	sub_topic,
		const std::string &	name
	)

◆ BuildBatteryStateToRapid()

bool dds_ros_bridge::DdsRosBridge::BuildBatteryStateToRapid	(	const std::string &	sub_topic_battery_state_TL,
		const std::string &	sub_topic_battery_state_TR,
		const std::string &	sub_topic_battery_state_BL,
		const std::string &	sub_topic_battery_state_BR,
		const std::string &	sub_topic_battery_temp_TL,
		const std::string &	sub_topic_battery_temp_TR,
		const std::string &	sub_topic_battery_temp_BL,
		const std::string &	sub_topic_battery_temp_BR,
		const std::string &	name
	)

◆ BuildCommandConfigToCommandConfig()

bool dds_ros_bridge::DdsRosBridge::BuildCommandConfigToCommandConfig ( const std::string & name )

Build Rapid publisher for one time message

◆ BuildCommandToCommand()

bool dds_ros_bridge::DdsRosBridge::BuildCommandToCommand	(	const std::string &	pub_topic,
		const std::string &	name
	)

Build Rapid subscribers to Ros publishers

Parameters

subscribeTopic	topix suffix for RAPID ex : "-debug"
pubTopic	topic to publish to

Returns: successful

◆ BuildCommandToRapid()

bool dds_ros_bridge::DdsRosBridge::BuildCommandToRapid	(	const std::string &	sub_topic,
		const std::string &	ac_sub_topic,
		const std::string &	failed_cmd_sub_topic,
		const std::string &	name
	)

◆ BuildCompressedFileAckToRapid()

bool dds_ros_bridge::DdsRosBridge::BuildCompressedFileAckToRapid	(	const std::string &	sub_topic,
		const std::string &	name
	)

◆ BuildCompressedFileToCompressedFile()

bool dds_ros_bridge::DdsRosBridge::BuildCompressedFileToCompressedFile	(	const std::string &	pub_topic,
		const std::string &	name
	)

◆ BuildCompressedFileToRapid()

bool dds_ros_bridge::DdsRosBridge::BuildCompressedFileToRapid	(	const std::string &	sub_topic,
		const std::string &	name
	)

◆ BuildCompressedImageToImage()

bool dds_ros_bridge::DdsRosBridge::BuildCompressedImageToImage	(	const std::string &	sub_topic,
		const std::string &	name
	)

◆ BuildCpuStateToRapid()

bool dds_ros_bridge::DdsRosBridge::BuildCpuStateToRapid	(	const std::string &	sub_topic,
		const std::string &	name
	)

◆ BuildDataToDiskStateToRapid()

bool dds_ros_bridge::DdsRosBridge::BuildDataToDiskStateToRapid	(	const std::string &	state_sub_topic,
		const std::string &	topics_sub_topic,
		const std::string &	name
	)

◆ BuildDiskStateToRapid()

bool dds_ros_bridge::DdsRosBridge::BuildDiskStateToRapid	(	const std::string &	sub_topic,
		const std::string &	name
	)

◆ BuildFaultConfigToRapid()

bool dds_ros_bridge::DdsRosBridge::BuildFaultConfigToRapid	(	const std::string &	sub_topic,
		const std::string &	name
	)

◆ BuildFaultStateToRapid()

bool dds_ros_bridge::DdsRosBridge::BuildFaultStateToRapid	(	const std::string &	sub_topic,
		const std::string &	name
	)

◆ BuildGncControlStateToRapid()

bool dds_ros_bridge::DdsRosBridge::BuildGncControlStateToRapid	(	const std::string &	sub_topic,
		const std::string &	name
	)

◆ BuildGncFamCmdStateToRapid()

bool dds_ros_bridge::DdsRosBridge::BuildGncFamCmdStateToRapid	(	const std::string &	sub_topic,
		const std::string &	name
	)

◆ BuildGuestScienceToRapid()

bool dds_ros_bridge::DdsRosBridge::BuildGuestScienceToRapid	(	const std::string &	state_sub_topic,
		const std::string &	config_sub_topic,
		const std::string &	data_sub_topic,
		const std::string &	name
	)

◆ BuildInertiaDataToRapid()

bool dds_ros_bridge::DdsRosBridge::BuildInertiaDataToRapid	(	const std::string &	sub_topic,
		const std::string &	name
	)

◆ BuildLogSampleToRapid()

bool dds_ros_bridge::DdsRosBridge::BuildLogSampleToRapid	(	const std::string &	sub_topic,
		const std::string &	name
	)

◆ BuildOdomToPosition()

bool dds_ros_bridge::DdsRosBridge::BuildOdomToPosition	(	const std::string &	sub_topic,
		const std::string &	name
	)

◆ BuildPayloadStateToPayloadState()

bool dds_ros_bridge::DdsRosBridge::BuildPayloadStateToPayloadState	(	const std::string &	sub_topic,
		const std::string &	name
	)

◆ BuildPlanStatusToPlanStatus()

bool dds_ros_bridge::DdsRosBridge::BuildPlanStatusToPlanStatus	(	const std::string &	sub_topic,
		const std::string &	name
	)

◆ BuildPmcCmdStateToRapid()

bool dds_ros_bridge::DdsRosBridge::BuildPmcCmdStateToRapid	(	const std::string &	sub_topic,
		const std::string &	name
	)

◆ BuildPoseToPosition()

bool dds_ros_bridge::DdsRosBridge::BuildPoseToPosition	(	const std::string &	sub_topic,
		const std::string &	name
	)

◆ BuildStringToTextMessage()

bool dds_ros_bridge::DdsRosBridge::BuildStringToTextMessage ( const std::string & name )

◆ BuildTelemetryToRapid()

bool dds_ros_bridge::DdsRosBridge::BuildTelemetryToRapid	(	const std::string &	sub_topic,
		const std::string &	name
	)

◆ BuildZonesToRapidCompressedFile()

bool dds_ros_bridge::DdsRosBridge::BuildZonesToRapidCompressedFile	(	const std::string &	sub_topic,
		const std::string &	zones_srv,
		const std::string &	name
	)

◆ Initialize()

void dds_ros_bridge::DdsRosBridge::Initialize ( ros::NodeHandle * nh )

protectedvirtual

Facade to initialize basic system get instance to RobotParameters init Miro::Log init Miro::Configuration load doc given my -MCF MiroConfigFile get reference to Miro::Configuration::document() set RobotParameters from ConfigDocument

parse options and set RobotParameters -MRN MiroRobotName -MNC MiroNamingContext -MNT MiroNamingTimeout -MDR MiroDataRoot -MEC MiroEventChannel -MNN MiroNoNaming -? MiroHelp Miro::Robot::init(argc, argv);

Facade to initialize basic dds-related parameters get instance to DdsEntitiesFactorySvcParameters get reference to Miro::Configuration::document() set DdsEntitiesFactorySvcParameters from ConfigDocument

parse options and set DdsEntitiesFactorySvcParameters -MDC MiroDdsConfig -MDI MiroDdsDomainId -MDP MiroDiscoverPeers -MDM MiroDdsMonitor -MDPN MiroDdsParticipantName -MDDL MiroDdsDefaultLibrary -MDED MiroDdsEndpointDiscover kn::DdsSupport::init(argc, argv);

get instance to DdsEntitiesFactorySvcParameters

the following are default values in knDdsParameters.xml configFiles.push_back(RAPID_QOS_PROFILES.xml) defaultLibrary = "RapidQosLibrary" defaultProfile = "RapidDefaultQos"

Hardcode participant name entityParams->participants[0].participantName = argv[0];

Use DdsEntitiesFactorySvc to create a new DdsEntitiesFactory which will create all objects: Participants DdsDomainParticpantRepository::instance() Publishers DdsPublisherRespoitory::instance() Subscribers DdsSubscriberRepository::instance() Topics and store in relevant repository based on DdsEntitesFactoryParameters

Reimplemented from ff_util::FreeFlyerNodelet.

◆ ReadParams()

bool dds_ros_bridge::DdsRosBridge::ReadParams ( )

protected

◆ ReadRateParams()

bool dds_ros_bridge::DdsRosBridge::ReadRateParams ( )

protected

◆ ReadTopicInfo()

bool dds_ros_bridge::DdsRosBridge::ReadTopicInfo	(	const std::string &	topic_abbr,
		const std::string &	sub_or_pub,
		std::string &	sub_topic,
		bool &	use
	)

protected

◆ SetCommStatusRate()

bool dds_ros_bridge::DdsRosBridge::SetCommStatusRate	(	float	rate,
		std::string &	err_msg
	)

◆ SetCpuStateRate()

bool dds_ros_bridge::DdsRosBridge::SetCpuStateRate	(	float	rate,
		std::string &	err_msg
	)

◆ SetDiskStateRate()

bool dds_ros_bridge::DdsRosBridge::SetDiskStateRate	(	float	rate,
		std::string &	err_msg
	)

◆ SetEkfPositionRate()

bool dds_ros_bridge::DdsRosBridge::SetEkfPositionRate	(	float	rate,
		std::string &	err_msg,
		RateType	type
	)

◆ SetGncStateRate()

bool dds_ros_bridge::DdsRosBridge::SetGncStateRate	(	float	rate,
		std::string &	err_msg
	)

◆ SetPmcStateRate()

bool dds_ros_bridge::DdsRosBridge::SetPmcStateRate	(	float	rate,
		std::string &	err_msg
	)

◆ SetSparseMappingPoseRate()

bool dds_ros_bridge::DdsRosBridge::SetSparseMappingPoseRate	(	float	rate,
		std::string &	err_msg
	)

◆ SetTelem()

bool dds_ros_bridge::DdsRosBridge::SetTelem	(	float	rate,
		std::string &	err_msg,
		RateType	type
	)

◆ SetTelemRateCallback()

bool dds_ros_bridge::DdsRosBridge::SetTelemRateCallback	(	ff_msgs::SetRate::Request &	req,
		ff_msgs::SetRate::Response &	res
	)

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

communications/dds_ros_bridge/include/dds_ros_bridge/dds_ros_bridge.h
communications/dds_ros_bridge/src/dds_ros_bridge.cc

Public Member Functions

Protected Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ DdsRosBridge()

◆ ~DdsRosBridge()

Member Function Documentation

◆ BuildAccessControlStateToRapid()

◆ BuildAckToRapid()

◆ BuildAgentStateToRapid()

◆ BuildArmJointSampleToRapid()

◆ BuildArmStateToRapid()

◆ BuildBatteryStateToRapid()

◆ BuildCommandConfigToCommandConfig()

◆ BuildCommandToCommand()

◆ BuildCommandToRapid()

◆ BuildCompressedFileAckToRapid()

◆ BuildCompressedFileToCompressedFile()

◆ BuildCompressedFileToRapid()

◆ BuildCompressedImageToImage()

◆ BuildCpuStateToRapid()

◆ BuildDataToDiskStateToRapid()

◆ BuildDiskStateToRapid()

◆ BuildFaultConfigToRapid()

◆ BuildFaultStateToRapid()

◆ BuildGncControlStateToRapid()

◆ BuildGncFamCmdStateToRapid()

◆ BuildGuestScienceToRapid()

◆ BuildInertiaDataToRapid()

◆ BuildLogSampleToRapid()

◆ BuildOdomToPosition()

◆ BuildPayloadStateToPayloadState()

◆ BuildPlanStatusToPlanStatus()

◆ BuildPmcCmdStateToRapid()

◆ BuildPoseToPosition()

◆ BuildStringToTextMessage()

◆ BuildTelemetryToRapid()

◆ BuildZonesToRapidCompressedFile()

◆ Initialize()

◆ ReadParams()

◆ ReadRateParams()

◆ ReadTopicInfo()

◆ SetCommStatusRate()

◆ SetCpuStateRate()

◆ SetDiskStateRate()

◆ SetEkfPositionRate()

◆ SetGncStateRate()

◆ SetPmcStateRate()

◆ SetSparseMappingPoseRate()

◆ SetTelem()

◆ SetTelemRateCallback()