Public Member Functions | Protected Member Functions | List of all members
chrono::ros::ChROSViperDCMotorControlHandler Class Reference
ROS module » ROS Handlers » ROS Robot Handlers

Description

Subscribes to chrono_ros_interfaces/msg/ViperDCMotorControl and applies the received steering / lifting / motor-parameter commands to a Viper ViperDCMotorControl driver.

Another example of custom message-package support (addressed by type-name string; no compiled message types). Wrapped for Python (pychrono.ros): the ViperDCMotorControl argument crosses from pychrono.robot.

#include <ChROSViperDCMotorControlHandler.h>

Inherits chrono::ros::ChROSHandler.

Public Member Functions

 ChROSViperDCMotorControlHandler (double update_rate, std::shared_ptr< chrono::viper::ViperDCMotorControl > driver, const std::string &topic_name)
 
virtual bool Initialize (ChROSBridge &bridge) override
 Creates the ViperDCMotorControl subscription.
 

Protected Member Functions

virtual void Tick (double time) override
 Applies the most recently received commands to the driver.
 

Constructor & Destructor Documentation

◆ ChROSViperDCMotorControlHandler()

chrono::ros::ChROSViperDCMotorControlHandler::ChROSViperDCMotorControlHandler ( double  update_rate,
std::shared_ptr< chrono::viper::ViperDCMotorControl >  driver,
const std::string &  topic_name 
)
Parameters
update_ratetick rate (Hz, sim time); 0 = every step.
driverthe Viper driver the received commands are applied to.
topic_nameViperDCMotorControl topic to subscribe to.
The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_ros/handlers/robot/viper/ChROSViperDCMotorControlHandler.h
  • /builds/uwsbel/chrono/src/chrono_ros/handlers/robot/viper/ChROSViperDCMotorControlHandler.cpp