Inheritance diagram for perch::PerchNodelet:

Public Types
enum	: FSM::Event { READY = (1<<0), GOAL_PERCH = (1<<1), GOAL_UNPERCH = (1<<2), GOAL_CANCEL = (1<<3), GOAL_PREEMPT = (1<<4), ARM_DEPLOYED = (1<<5), ARM_STOWED = (1<<6), ARM_SUCCESS = (1<<7), ARM_FAILED = (1<<8), SWITCH_SUCCESS = (1<<9), SWITCH_FAILED = (1<<10), MOTION_SUCCESS = (1<<11), MOTION_FAILED = (1<<12), MANUAL_STATE_SET = (1<<13) }

enum	PerchPose { APPROACH_POSE, COMPLETE_POSE, RECOVERY_POSE, UNPERCHED_POSE, PERCHED_POSE }

enum	ServoID { PROXIMAL, DISTAL, GRIPPER, ALL_SERVOS }

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

Public Member Functions
	PerchNodelet ()

	~PerchNodelet ()

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
void	Initialize (ros::NodeHandle *nh)

void	ConnectedCallback ()

bool	SetStateCallback (ff_msgs::SetState::Request &req, ff_msgs::SetState::Response &res)

FSM::State	Result (int32_t response, std::string const &msg="")

void	UpdateCallback (FSM::State const &state, FSM::Event const &event)

bool	Switch (std::string const &pipeline)

void	SFeedbackCallback (ff_msgs::LocalizationFeedbackConstPtr const &feedback)

void	SResultCallback (ff_util::FreeFlyerActionState::Enum result_code, ff_msgs::LocalizationResultConstPtr const &result)

void	ArmStateStampedCallback (ff_msgs::ArmStateStamped::ConstPtr const &msg)

bool	Arm (uint8_t command)

void	AFeedbackCallback (ff_msgs::ArmFeedbackConstPtr const &feedback)

void	AResultCallback (ff_util::FreeFlyerActionState::Enum result_code, ff_msgs::ArmResultConstPtr const &result)

void	SaveApproachPose (void)

bool	OpticalFlow (bool enable)

bool	HandraiLReset (void)

bool	Prep (std::string const &flight_mode)

bool	Move (PerchPose type, std::string const &mode)

void	MFeedbackCallback (ff_msgs::MotionFeedbackConstPtr const &feedback)

void	MResultCallback (ff_util::FreeFlyerActionState::Enum result_code, ff_msgs::MotionResultConstPtr const &result)

void	GoalCallback (ff_msgs::PerchGoalConstPtr const &goal)

void	PreemptCallback ()

void	CancelCallback ()

bool	ReconfigureCallback (dynamic_reconfigure::Config &config)

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)

Protected Attributes
ff_util::FSM	fsm_

ff_util::FreeFlyerActionClient< ff_msgs::MotionAction >	client_m_

ff_util::FreeFlyerActionClient< ff_msgs::LocalizationAction >	client_s_

ff_util::FreeFlyerActionClient< ff_msgs::ArmAction >	client_a_

ff_util::FreeFlyerActionServer< ff_msgs::PerchAction >	server_

ff_util::ConfigServer	cfg_

tf2_ros::Buffer	tf_buffer_

std::shared_ptr< tf2_ros::TransformListener >	tf_listener_

ros::Publisher	pub_

ros::Subscriber	sub_

ros::ServiceServer	server_set_state_

ros::ServiceClient	client_service_of_enable_

ros::ServiceClient	client_service_hr_reset_

geometry_msgs::Transform	approach_pose_

int32_t	err_

std::string	err_msg_

std::string	platform_name_

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

Member Enumeration Documentation

◆ anonymous enum

anonymous enum : FSM::Event

Enumerator
READY
GOAL_PERCH
GOAL_UNPERCH
GOAL_CANCEL
GOAL_PREEMPT
ARM_DEPLOYED
ARM_STOWED
ARM_SUCCESS
ARM_FAILED
SWITCH_SUCCESS
SWITCH_FAILED
MOTION_SUCCESS
MOTION_FAILED
MANUAL_STATE_SET

◆ PerchPose

enum perch::PerchNodelet::PerchPose

Enumerator
APPROACH_POSE
COMPLETE_POSE
RECOVERY_POSE
UNPERCHED_POSE
PERCHED_POSE

◆ ServoID

enum perch::PerchNodelet::ServoID

Enumerator
PROXIMAL
DISTAL
GRIPPER
ALL_SERVOS

Constructor & Destructor Documentation

◆ PerchNodelet()

perch::PerchNodelet::PerchNodelet ( )

inline

◆ ~PerchNodelet()

perch::PerchNodelet::~PerchNodelet ( )

inline

Member Function Documentation

◆ AFeedbackCallback()

void perch::PerchNodelet::AFeedbackCallback ( ff_msgs::ArmFeedbackConstPtr const & feedback )

inlineprotected

◆ AResultCallback()

void perch::PerchNodelet::AResultCallback	(	ff_util::FreeFlyerActionState::Enum	result_code,
		ff_msgs::ArmResultConstPtr const &	result
	)

inlineprotected

◆ Arm()

bool perch::PerchNodelet::Arm ( uint8_t command )

inlineprotected

◆ ArmStateStampedCallback()

void perch::PerchNodelet::ArmStateStampedCallback ( ff_msgs::ArmStateStamped::ConstPtr const & msg )

inlineprotected

◆ CancelCallback()

void perch::PerchNodelet::CancelCallback ( )

inlineprotected

◆ ConnectedCallback()

void perch::PerchNodelet::ConnectedCallback ( )

inlineprotected

◆ GoalCallback()

void perch::PerchNodelet::GoalCallback ( ff_msgs::PerchGoalConstPtr const & goal )

inlineprotected

◆ HandraiLReset()

bool perch::PerchNodelet::HandraiLReset ( void )

inlineprotected

◆ Initialize()

void perch::PerchNodelet::Initialize ( ros::NodeHandle * nh )

inlineprotectedvirtual

Reimplemented from ff_util::FreeFlyerNodelet.

◆ MFeedbackCallback()

void perch::PerchNodelet::MFeedbackCallback ( ff_msgs::MotionFeedbackConstPtr const & feedback )

inlineprotected

◆ Move()

bool perch::PerchNodelet::Move	(	PerchPose	type,
		std::string const &	mode
	)

inlineprotected

◆ MResultCallback()

void perch::PerchNodelet::MResultCallback	(	ff_util::FreeFlyerActionState::Enum	result_code,
		ff_msgs::MotionResultConstPtr const &	result
	)

inlineprotected

◆ OpticalFlow()

bool perch::PerchNodelet::OpticalFlow ( bool enable )

inlineprotected

◆ PreemptCallback()

void perch::PerchNodelet::PreemptCallback ( )

inlineprotected

◆ Prep()

bool perch::PerchNodelet::Prep ( std::string const & flight_mode )

inlineprotected

◆ ReconfigureCallback()

bool perch::PerchNodelet::ReconfigureCallback ( dynamic_reconfigure::Config & config )

inlineprotected

◆ Result()

FSM::State perch::PerchNodelet::Result	(	int32_t	response,
		std::string const &	msg = `""`
	)

inlineprotected

◆ SaveApproachPose()

void perch::PerchNodelet::SaveApproachPose ( void )

inlineprotected

◆ SetStateCallback()

bool perch::PerchNodelet::SetStateCallback	(	ff_msgs::SetState::Request &	req,
		ff_msgs::SetState::Response &	res
	)

inlineprotected

◆ SFeedbackCallback()

void perch::PerchNodelet::SFeedbackCallback ( ff_msgs::LocalizationFeedbackConstPtr const & feedback )

inlineprotected

◆ SResultCallback()

void perch::PerchNodelet::SResultCallback	(	ff_util::FreeFlyerActionState::Enum	result_code,
		ff_msgs::LocalizationResultConstPtr const &	result
	)

inlineprotected

◆ Switch()

bool perch::PerchNodelet::Switch ( std::string const & pipeline )

inlineprotected

◆ UpdateCallback()

void perch::PerchNodelet::UpdateCallback	(	FSM::State const &	state,
		FSM::Event const &	event
	)

inlineprotected

Member Data Documentation

◆ approach_pose_

geometry_msgs::Transform perch::PerchNodelet::approach_pose_

protected

◆ cfg_

ff_util::ConfigServer perch::PerchNodelet::cfg_

protected

◆ client_a_

ff_util::FreeFlyerActionClient<ff_msgs::ArmAction> perch::PerchNodelet::client_a_

protected

◆ client_m_

ff_util::FreeFlyerActionClient<ff_msgs::MotionAction> perch::PerchNodelet::client_m_

protected

◆ client_s_

ff_util::FreeFlyerActionClient<ff_msgs::LocalizationAction> perch::PerchNodelet::client_s_

protected

◆ client_service_hr_reset_

ros::ServiceClient perch::PerchNodelet::client_service_hr_reset_

protected

◆ client_service_of_enable_

ros::ServiceClient perch::PerchNodelet::client_service_of_enable_

protected

◆ err_

int32_t perch::PerchNodelet::err_

protected

◆ err_msg_

std::string perch::PerchNodelet::err_msg_

protected

◆ fsm_

ff_util::FSM perch::PerchNodelet::fsm_

protected

◆ platform_name_

std::string perch::PerchNodelet::platform_name_

protected

◆ pub_

ros::Publisher perch::PerchNodelet::pub_

protected

◆ server_

ff_util::FreeFlyerActionServer<ff_msgs::PerchAction> perch::PerchNodelet::server_

protected

◆ server_set_state_

ros::ServiceServer perch::PerchNodelet::server_set_state_

protected

◆ sub_

ros::Subscriber perch::PerchNodelet::sub_

protected

◆ tf_buffer_

tf2_ros::Buffer perch::PerchNodelet::tf_buffer_

protected

◆ tf_listener_

std::shared_ptr<tf2_ros::TransformListener> perch::PerchNodelet::tf_listener_

protected

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

behaviors/perch/src/perch_nodelet.cc

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Member Enumeration Documentation

◆ anonymous enum

◆ PerchPose

◆ ServoID

Constructor & Destructor Documentation

◆ PerchNodelet()

◆ ~PerchNodelet()

Member Function Documentation

◆ AFeedbackCallback()

◆ AResultCallback()

◆ Arm()

◆ ArmStateStampedCallback()

◆ CancelCallback()

◆ ConnectedCallback()

◆ GoalCallback()

◆ HandraiLReset()

◆ Initialize()

◆ MFeedbackCallback()

◆ Move()

◆ MResultCallback()

◆ OpticalFlow()

◆ PreemptCallback()

◆ Prep()

◆ ReconfigureCallback()

◆ Result()

◆ SaveApproachPose()

◆ SetStateCallback()

◆ SFeedbackCallback()

◆ SResultCallback()

◆ Switch()

◆ UpdateCallback()

Member Data Documentation

◆ approach_pose_

◆ cfg_

◆ client_a_

◆ client_m_

◆ client_s_

◆ client_service_hr_reset_

◆ client_service_of_enable_

◆ err_

◆ err_msg_

◆ fsm_

◆ platform_name_

◆ pub_

◆ server_

◆ server_set_state_

◆ sub_

◆ tf_buffer_

◆ tf_listener_