Obbart/universal_robots_ros_driver
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Refactored intialisation of ROSController/ActionServer

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This commit is contained in:
Jarek Potiuk
2018-02-24 13:33:04 +01:00
parent db61edfe5b
commit 71bca7abf7
6 changed files with 24 additions and 26 deletions
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4
include/ur_modern_driver/ros/action_server.h
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@@ -39,7 +39,7 @@ private:
std::condition_variable tj_cv_;
std::thread tj_thread_;
TrajectoryFollowerInterface& follower_;
ActionTrajectoryFollowerInterface& follower_;
RobotState state_;
std::array<double, 6> q_actual_, qd_actual_;
@@ -61,7 +61,7 @@ private:
bool updateState(RTShared& data);
public:
ActionServer(TrajectoryFollowerInterface& follower, std::vector<std::string>& joint_names, double max_velocity);
ActionServer(ActionTrajectoryFollowerInterface& follower, std::vector<std::string>& joint_names, double max_velocity);
void start();
virtual void onRobotStateChange(RobotState state);

4
include/ur_modern_driver/ros/trajectory_follower_interface.h → include/ur_modern_driver/ros/action_trajectory_follower_interface.h
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@@ -22,11 +22,11 @@ struct TrajectoryPoint
}
};
class TrajectoryFollowerInterface
class ActionTrajectoryFollowerInterface
{
public:
virtual bool start() = 0;
virtual bool execute(std::vector<TrajectoryPoint> &trajectory, std::atomic<bool> &interrupt) = 0;
virtual void stop() = 0;
virtual ~TrajectoryFollowerInterface() {};
virtual ~ActionTrajectoryFollowerInterface() {};
};

4
include/ur_modern_driver/ros/lowbandwidth_trajectory_follower.h
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@@ -11,9 +11,9 @@
#include "ur_modern_driver/log.h"
#include "ur_modern_driver/ur/commander.h"
#include "ur_modern_driver/ur/server.h"
#include "ur_modern_driver/ros/trajectory_follower_interface.h"
#include "ur_modern_driver/ros/action_trajectory_follower_interface.h"
class LowBandwidthTrajectoryFollower: public TrajectoryFollowerInterface
class LowBandwidthTrajectoryFollower: public ActionTrajectoryFollowerInterface
{
private:
std::atomic<bool> running_;

4
include/ur_modern_driver/ros/trajectory_follower.h
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@@ -11,9 +11,9 @@
#include "ur_modern_driver/log.h"
#include "ur_modern_driver/ur/commander.h"
#include "ur_modern_driver/ur/server.h"
#include "ur_modern_driver/ros/trajectory_follower_interface.h"
#include "ur_modern_driver/ros/action_trajectory_follower_interface.h"
class TrajectoryFollower : public TrajectoryFollowerInterface
class TrajectoryFollower : public ActionTrajectoryFollowerInterface
{
private:
std::atomic<bool> running_;