PublishVelocityForceCommand Class
Publishes a velocity force command to the velocity force controller at a fixed rate. More...
Declaration
class moveit_pro::behaviors::PublishVelocityForceCommand { ... }
#include <publish_velocity_force_command.hpp>
Base class
Public Member Typedefs Index
Public Constructors Index
| PublishVelocityForceCommand (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources) |
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Public Member Functions Index
Private Member Functions Index
Private Member Attributes Index
Public Static Functions Index
Description
Publishes a velocity force command to the velocity force controller at a fixed rate.
By default the controller interprets the twist and wrench in its configured ee_frame (see the velocity_force_controller config). Set control_frame_id to a robot-model link (e.g. the world or base link) to express the references in that frame instead, for world-relative motion that stays fixed as the end-effector rotates; this Behavior does not transform between frames itself. Wire either the unstamped twist / wrench ports (recommended) or the legacy twist_stamped / wrench_stamped ports (deprecated, header.frame_id is ignored). Use UnpackTwistStampedMessage / UnpackWrenchStampedMessage to bridge from stamped sources.
Each published command carries the time the Behavior Tree last refreshed it, not the time the timer published it, so a tree that stops ticking lets the controller's command_timeout stop the robot. The controller ages the stamp of the last command it received, so the stall the stream tolerates is command_timeout less one publish period and one tick period — about 90 ms at the defaults, not the whole timeout. Lowering publish_rate shortens it.
| Data Port Name | Port Type | Object Type |
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| velocity_force_controller_command_topic | input | std::string |
| velocity_controlled_axes | input | std::vector<int> |
| force_controlled_axes | input | std::vector<int> |
| wrench_gain | input | double |
| twist | input | geometry_msgs::msg::Twist |
| wrench | input | geometry_msgs::msg::Wrench |
| twist_stamped | input | geometry_msgs::msg::TwistStamped |
| wrench_stamped | input | geometry_msgs::msg::WrenchStamped |
| publish_rate | input | int |
| control_frame_id | input | std::string |
Definition at line 55 of file publish_velocity_force_command.hpp.
Public Member Typedefs
VelocityForceCommand
| using moveit_pro::behaviors::PublishVelocityForceCommand::VelocityForceCommand = moveit_pro_controllers_msgs::msg::VelocityForceCommand |
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Public Constructors
PublishVelocityForceCommand()
| moveit_pro::behaviors::PublishVelocityForceCommand::PublishVelocityForceCommand (const std::string & name, const BT::NodeConfiguration & config, const std::shared_ptr< BehaviorContext > & shared_resources) |
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Public Member Functions
onHalted()
| void moveit_pro::behaviors::PublishVelocityForceCommand::onHalted () |
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onRunning()
| BT::NodeStatus moveit_pro::behaviors::PublishVelocityForceCommand::onRunning () |
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onStart()
| BT::NodeStatus moveit_pro::behaviors::PublishVelocityForceCommand::onStart () |
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Private Member Functions
publishCommand()
| void moveit_pro::behaviors::PublishVelocityForceCommand::publishCommand () |
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stopPublishing()
| void moveit_pro::behaviors::PublishVelocityForceCommand::stopPublishing () |
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updateCommand()
| std::optional< std::string > moveit_pro::behaviors::PublishVelocityForceCommand::updateCommand () |
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Private Member Attributes
command_
| VelocityForceCommand moveit_pro::behaviors::PublishVelocityForceCommand::command_ |
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command_mutex_
| std::mutex moveit_pro::behaviors::PublishVelocityForceCommand::command_mutex_ |
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command_publisher_
| std::shared_ptr<rclcpp::Publisher<moveit_pro_controllers_msgs::msg::VelocityForceCommand> > moveit_pro::behaviors::PublishVelocityForceCommand::command_publisher_ |
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publishing_stopped_
| bool moveit_pro::behaviors::PublishVelocityForceCommand::publishing_stopped_ = false |
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timer_
| rclcpp::TimerBase::SharedPtr moveit_pro::behaviors::PublishVelocityForceCommand::timer_ |
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warned_no_control_axes_
| bool moveit_pro::behaviors::PublishVelocityForceCommand::warned_no_control_axes_ = false |
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warned_twist_stamped_deprecated_
| bool moveit_pro::behaviors::PublishVelocityForceCommand::warned_twist_stamped_deprecated_ = false |
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warned_wrench_stamped_deprecated_
| bool moveit_pro::behaviors::PublishVelocityForceCommand::warned_wrench_stamped_deprecated_ = false |
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Public Static Functions
metadata()
| BT::KeyValueVector moveit_pro::behaviors::PublishVelocityForceCommand::metadata () |
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static
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providedPorts()
| BT::PortsList moveit_pro::behaviors::PublishVelocityForceCommand::providedPorts () |
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static
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