RViz Panel to control the hardware specific functions of the Bioscara robot. More...

#include <bioscara_panel.hpp>

Inheritance diagram for bioscara_rviz_plugin::BioscaraPanel:

Public Member Functions
	BioscaraPanel (QWidget *parent=0)
	Construct a new Bioscara Panel object.

	~BioscaraPanel () override
	Destroy the Bioscara Panel object.

void	onInitialize () override
	Automatically invoked by the RViz parent class. Initializes the panel.

Protected Member Functions
void	cm_state_callback (const ControllerManagerActivity &msg)
	callback on reported controller or hardware state changes.

void	joint_state_callback (const DynamicJointState &msg)
	callback on joint state update.

void	ensure_jsb_is_active (void)
	Ensure the joint state broadcaster is active.

void	set_hardware_component_state (const std::string component, const lifecycle_msgs::msg::State target_state)
	Makes a service request to change a hardware component state.

void	configure_controller (const std::string controller)
	Makes a service request to configure a controller state.

void	switch_controllers (const std::vector< std::string > &activate_controllers, const std::vector< std::string > &deactivate_controllers, const int32_t=SwitchController::Request::BEST_EFFORT, const bool activate_asap=false, const builtin_interfaces::msg::Duration timeout=builtin_interfaces::msg::Duration())
	Makes a service request to change controller states.

void	set_controller_state (const std::string controller, const lifecycle_msgs::msg::State target_state)
	calls the correct functions to bring a controller to the correct state.

void	dynamic_joint_state_msg_to_map (const DynamicJointState &dynamic_joint_state_in, std::unordered_map< std::string, InterfaceValue > &map_out)
	simple conversion message type conversion function

void	named_lcs_msg_to_map (const std::vector< NamedLifecycleState > &named_lcs_in, std::unordered_map< std::string, NamedLifecycleState > &map_out)
	simple conversion message type conversion function

void	print_cm_map (const std::string prefix, const std::unordered_map< std::string, NamedLifecycleState > &map_in)
	Print life-cycle state message to console.

void	prepopulate_joint_state_map (std::unordered_map< std::string, InterfaceValue > &state_map, std::vector< std::string > augment_vec)
	Prepopulates a state map with a default NamedLifecycleState for every specified key.

void	prepopulate_state_map (std::unordered_map< std::string, NamedLifecycleState > &state_map, std::vector< std::string > augment_vec)
	Prepopulates a state map with a default NamedLifecycleState for every specified key.

void	update_homing_grp_state (void)
	Enabl/Disables the homing group depending on the homing controller state.

void	update_homing_state_labels (void)
	updates all homing state labels.

void	set_homing_state_label (QLabel *label, const InterfaceValue &state)
	Set state label text and color of the homing state label.

void	update_state_labels_and_btns (void)
	Update all hardware and controller state lables.

void	update_state_label_and_btn (const std::unordered_map< std::string, NamedLifecycleState > &state_map, QLabel state_label, QPushButton en_button, const std::string &state_key)
	updates component state label and control button.

void	set_state_label (QLabel *label, const NamedLifecycleState &state)
	Set the state label.

void	set_en_btn (QPushButton *button, const NamedLifecycleState &state)
	Set the control button state.

bool	check_activation_conditions (const std::string component_key)
	Check under which conditions a component is allowed to be activated.

lifecycle_msgs::msg::State	target_state_from_current (lifecycle_msgs::msg::State current_state)
	returns the next logical state from the current one.

void	homing_cmd (const std::string joint, const int cmd)
	callback function called when a homing button is pressed

void	ctrl_en_btn_cb (const std::string controller)
	callback on controller enable button

Protected Attributes
rclcpp::Node::SharedPtr	node_
	Pointer to the parent node. Used for access to the executor.

rclcpp::Subscription< ControllerManagerActivity >::SharedPtr	cm_state_subsription_
	Subscription to the the controller_manager state publisher.

rclcpp::Subscription< DynamicJointState >::SharedPtr	joint_state_subsription_
	Subscription to the the joint state publisher state publisher.

rclcpp::Publisher< DynamicInterfaceGroupValues >::SharedPtr	homing_publisher_
	Publisher to send commands to the homing_controller.

rclcpp::Client< SwitchController >::SharedPtr	switch_controller_client_
	Service client to the "/controller_manager/switch_controller" service.

rclcpp::Client< ConfigureController >::SharedPtr	configure_controller_client_
	Service client to the "/controller_manager/configure_controller" service.

rclcpp::Client< SetHardwareComponentState >::SharedPtr	hardware_state_client_
	Service client to the "/controller_manager/set_hardware_component_state" service.

rclcpp::TimerBase::SharedPtr	prune_timer_
	Timer triggered every 5 s to prune unanswered service requests.

std::unordered_map< std::string, InterfaceValue >	joint_states_
	Map storing all joint state interface values by each joint.

std::unordered_map< std::string, NamedLifecycleState >	hardware_states_
	Map correlating hardware component name to its lifecycle_msgs/State.

std::unordered_map< std::string, NamedLifecycleState >	controller_states_
	Map correlating controller name to its lifecycle_msgs/State.

Ui::BioscaraUI *	ui_
	The QT object containing all UI elements.

Private Slots
void	arm_en_btn_cb (void)
	Tries to set the bioscara_arm hardware component to the `active` state and tries to enable the velocity_joint_trajectory_controller.

void	gripper_en_btn_cb (void)
	Tries to set the bioscara_gripper_128 hardware component to the `active` state and tries to enable the gripper_controller.

Detailed Description

RViz Panel to control the hardware specific functions of the Bioscara robot.

Through the panel it is possible to modify the robot's hardware's and controller states and to execute the homing procedures.

Constructor & Destructor Documentation

◆ BioscaraPanel()

bioscara_rviz_plugin::BioscaraPanel::BioscaraPanel ( QWidget * parent = 0 )

explicit

Construct a new Bioscara Panel object.

Creates a new ui_ object from the ui object autogenerated from the "bioscara_rviz_plugin_frame.ui". This object contains all UI elements. Each button gets assigned a callback function.

Parameters

parent

◆ ~BioscaraPanel()

bioscara_rviz_plugin::BioscaraPanel::~BioscaraPanel ( )

override

Destroy the Bioscara Panel object.

Member Function Documentation

◆ arm_en_btn_cb

void bioscara_rviz_plugin::BioscaraPanel::arm_en_btn_cb ( void )

privateslot

Tries to set the bioscara_arm hardware component to the active state and tries to enable the velocity_joint_trajectory_controller.

◆ check_activation_conditions()

bool bioscara_rviz_plugin::BioscaraPanel::check_activation_conditions ( const std::string component_key )

protected

Check under which conditions a component is allowed to be activated.

Some controllers will only activate under certain conditions. This functions disables the activation button if the coditions are met.

Parameters

component_key

Returns: true; false

◆ cm_state_callback()

void bioscara_rviz_plugin::BioscaraPanel::cm_state_callback ( const ControllerManagerActivity & msg )

protected

callback on reported controller or hardware state changes.

Updates the controller_states_ and hardware_states_ state maps. Reactivates the Joint State Broadcaster if it has become inactive. Updates controller and hardware state labels and buttons by invoking update_state_labels_and_btns() Updates homing group state by invoking update_homing_grp_state().

Parameters

msg	received controller states

◆ configure_controller()

void bioscara_rviz_plugin::BioscaraPanel::configure_controller ( const std::string controller )

protected

Makes a service request to configure a controller state.

Request issued through the configure_controller_client_. Asynchrounous call, method exits after having issued the request.

Parameters

controller name of controller to activate

◆ ctrl_en_btn_cb()

void bioscara_rviz_plugin::BioscaraPanel::ctrl_en_btn_cb ( const std::string controller )

protected

callback on controller enable button

Parameters

controller string name of controller to change state

◆ dynamic_joint_state_msg_to_map()

void bioscara_rviz_plugin::BioscaraPanel::dynamic_joint_state_msg_to_map	(	const DynamicJointState &	dynamic_joint_state_in,
		std::unordered_map< std::string, InterfaceValue > &	map_out
	)

protected

simple conversion message type conversion function

Parameters

dynamic_joint_state_in	message in
map_out	joint states map out

◆ ensure_jsb_is_active()

void bioscara_rviz_plugin::BioscaraPanel::ensure_jsb_is_active ( void )

protected

Ensure the joint state broadcaster is active.

The JSB can become inactive, ensure that it comes active again.

Calls the set_controller_state() method

◆ gripper_en_btn_cb

void bioscara_rviz_plugin::BioscaraPanel::gripper_en_btn_cb ( void )

privateslot

Tries to set the bioscara_gripper_128 hardware component to the active state and tries to enable the gripper_controller.

◆ homing_cmd()

void bioscara_rviz_plugin::BioscaraPanel::homing_cmd	(	const std::string	joint,
		const int	cmd
	)

protected

callback function called when a homing button is pressed

publishes on homing_publisher_ to initiate/stop homing

Parameters

joint	string name of joint
cmd	-1, 0, +1 to start homing to negative direction, stop homing, start homing to positve direction.

◆ joint_state_callback()

void bioscara_rviz_plugin::BioscaraPanel::joint_state_callback ( const DynamicJointState & msg )

protected

callback on joint state update.

Updates joint_states_ with the latest values using dynamic_joint_state_msg_to_map(). Updates homing group state by invoking update_homing_grp_state().

Parameters

msg	received joint states

◆ named_lcs_msg_to_map()

void bioscara_rviz_plugin::BioscaraPanel::named_lcs_msg_to_map	(	const std::vector< NamedLifecycleState > &	named_lcs_in,
		std::unordered_map< std::string, NamedLifecycleState > &	map_out
	)

protected

simple conversion message type conversion function

Parameters

named_lcs_in	NamedLifecycleState message in
map_out	state map out

◆ onInitialize()

void bioscara_rviz_plugin::BioscaraPanel::onInitialize ( )

override

Automatically invoked by the RViz parent class. Initializes the panel.

Retrieves the pointer to the parent node and saves it in node_. This node and its executor is used for all clients and publishers.

Additionally a the prune_timer_ is created which periodically cleans all dangling service requests. All subscribers, publishers and clients are created and saved in their corresponding handler. Also the #controller_states_state and hardware_states_ state maps are prepopulated by invoking prepopulate_state_map()

◆ prepopulate_joint_state_map()

void bioscara_rviz_plugin::BioscaraPanel::prepopulate_joint_state_map	(	std::unordered_map< std::string, InterfaceValue > &	state_map,
		std::vector< std::string >	augment_vec
	)

protected

Prepopulates a state map with a default NamedLifecycleState for every specified key.

This is done to avoid having to check for the existence of key when accessing the map. Keys could be missing if hardware interfaces are not specified or named differently.

For every joint the state interfaces are initialized as follows:

position: 0.0
velocity: 0.0
home: 0.0

Some joints (the gripper) dont have all state interfaces, but they are initialized regardless.

Parameters

state_map	The state map to prepopulate
augment_vec	keys that are added/overwritten

◆ prepopulate_state_map()

void bioscara_rviz_plugin::BioscaraPanel::prepopulate_state_map	(	std::unordered_map< std::string, NamedLifecycleState > &	state_map,
		std::vector< std::string >	augment_vec
	)

protected

Prepopulates a state map with a default NamedLifecycleState for every specified key.

This is done to avoid having to check for the existence of key when accessing the map. Keys could be missing if an expected controller or hardware component has not been loaded or has a different name.

Parameters

state_map	The state map to prepopulate
augment_vec	keys that are added/overwritten

◆ print_cm_map()

void bioscara_rviz_plugin::BioscaraPanel::print_cm_map	(	const std::string	prefix,
		const std::unordered_map< std::string, NamedLifecycleState > &	map_in
	)

protected

Print life-cycle state message to console.

Parameters

prefix	string prefix
map_in	map to be printed

◆ set_controller_state()

void bioscara_rviz_plugin::BioscaraPanel::set_controller_state	(	const std::string	controller,
		const lifecycle_msgs::msg::State	target_state
	)

protected

calls the correct functions to bring a controller to the correct state.

Checks if configure_controller() needs to be called before switch_controllers() can be called to bring the controller to the desired state.

Parameters

controller	controller name
target_state	target state

◆ set_en_btn()

void bioscara_rviz_plugin::BioscaraPanel::set_en_btn	(	QPushButton *	button,
		const NamedLifecycleState &	state
	)

protected

Set the control button state.

Sets control buttons color, text and active status based on the component state.

Parameters

button	pointer to button to modify
state	state of the component

◆ set_hardware_component_state()

void bioscara_rviz_plugin::BioscaraPanel::set_hardware_component_state	(	const std::string	component,
		const lifecycle_msgs::msg::State	target_state
	)

protected

Makes a service request to change a hardware component state.

Request issued through the hardware_state_client_. Asynchrounous call, method exits after having issued the request.

Parameters

component	name of hardware component to modify
target_state	target state

◆ set_homing_state_label()

void bioscara_rviz_plugin::BioscaraPanel::set_homing_state_label	(	QLabel *	label,
		const InterfaceValue &	state
	)

protected

Set state label text and color of the homing state label.

Sets color and text of label.

Parameters

label	pointer to label
state	joint state

◆ set_state_label()

void bioscara_rviz_plugin::BioscaraPanel::set_state_label	(	QLabel *	label,
		const NamedLifecycleState &	state
	)

protected

Set the state label.

sets color and text based on the component state.

Parameters

label	pointer to label to modify
state	state of the component

◆ switch_controllers()

void bioscara_rviz_plugin::BioscaraPanel::switch_controllers	(	const std::vector< std::string > &	activate_controllers,
		const std::vector< std::string > &	deactivate_controllers,
		const int32_t	strictness = `SwitchController::Request::BEST_EFFORT`,
		const bool	activate_asap = `false`,
		const builtin_interfaces::msg::Duration	timeout = `builtin_interfaces::msg::Duration()`
	)

protected

Makes a service request to change controller states.

Activates and deactivates a combination of controllers.

Parameters

activate_controllers	list of controllers to activate
deactivate_controllers	list of controllers to deactivate
activate_asap	if true controller switch happens in the realtime loop
timeout	switch timeout

◆ target_state_from_current()

lifecycle_msgs::msg::State bioscara_rviz_plugin::BioscaraPanel::target_state_from_current ( lifecycle_msgs::msg::State current_state )

protected

returns the next logical state from the current one.

Parameters

current_state current state

Returns: lifecycle_msgs::msg::State

◆ update_homing_grp_state()

void bioscara_rviz_plugin::BioscaraPanel::update_homing_grp_state ( void )

protected

Enabl/Disables the homing group depending on the homing controller state.

◆ update_homing_state_labels()

void bioscara_rviz_plugin::BioscaraPanel::update_homing_state_labels ( void )

protected

updates all homing state labels.

Calls set_homing_state_label() for each joint state label.

◆ update_state_label_and_btn()

void bioscara_rviz_plugin::BioscaraPanel::update_state_label_and_btn	(	const std::unordered_map< std::string, NamedLifecycleState > &	state_map,
		QLabel *	state_label,
		QPushButton *	en_button,
		const std::string &	state_key
	)

protected

updates component state label and control button.

Calls set_state_label() for state_label and set_en_btn() for en_button.

Parameters

state_map	component state map
state_label	pointer to state label
en_button	pointer to enable button
state_key	string key to access in state_map

◆ update_state_labels_and_btns()

void bioscara_rviz_plugin::BioscaraPanel::update_state_labels_and_btns ( void )

protected

Update all hardware and controller state lables.

calls update_state_label_and_btn() for each controller and hardware component.

Member Data Documentation

◆ cm_state_subsription_

rclcpp::Subscription<ControllerManagerActivity>::SharedPtr bioscara_rviz_plugin::BioscaraPanel::cm_state_subsription_

protected

Subscription to the the controller_manager state publisher.

Used to retrieve information about hardware and controller state changes.

◆ configure_controller_client_

rclcpp::Client<ConfigureController>::SharedPtr bioscara_rviz_plugin::BioscaraPanel::configure_controller_client_

protected

Service client to the "/controller_manager/configure_controller" service.

Used to request configuration and cleanup of controllers.

◆ controller_states_

std::unordered_map<std::string, NamedLifecycleState> bioscara_rviz_plugin::BioscaraPanel::controller_states_

protected

Map correlating controller name to its lifecycle_msgs/State.

Stored as NamedLifecycleState to also simply access controller name from map value.

◆ hardware_state_client_

rclcpp::Client<SetHardwareComponentState>::SharedPtr bioscara_rviz_plugin::BioscaraPanel::hardware_state_client_

protected

Service client to the "/controller_manager/set_hardware_component_state" service.

Used to request activation and deactivation of harddware components.

◆ hardware_states_

std::unordered_map<std::string, NamedLifecycleState> bioscara_rviz_plugin::BioscaraPanel::hardware_states_

protected

Map correlating hardware component name to its lifecycle_msgs/State.

Stored as NamedLifecycleState to also simply access component name from map value.

◆ homing_publisher_

rclcpp::Publisher<DynamicInterfaceGroupValues>::SharedPtr bioscara_rviz_plugin::BioscaraPanel::homing_publisher_

protected

Publisher to send commands to the homing_controller.

Used to start and stop homing of joints.

◆ joint_state_subsription_

rclcpp::Subscription<DynamicJointState>::SharedPtr bioscara_rviz_plugin::BioscaraPanel::joint_state_subsription_

protected

Subscription to the the joint state publisher state publisher.

Uses the "/dynamic_joint_states" to receive updates of all joints states.

◆ joint_states_

std::unordered_map<std::string, InterfaceValue> bioscara_rviz_plugin::BioscaraPanel::joint_states_

protected

Map storing all joint state interface values by each joint.

◆ node_

rclcpp::Node::SharedPtr bioscara_rviz_plugin::BioscaraPanel::node_

protected

Pointer to the parent node. Used for access to the executor.

◆ prune_timer_

rclcpp::TimerBase::SharedPtr bioscara_rviz_plugin::BioscaraPanel::prune_timer_

protected

Timer triggered every 5 s to prune unanswered service requests.

◆ switch_controller_client_

rclcpp::Client<SwitchController>::SharedPtr bioscara_rviz_plugin::BioscaraPanel::switch_controller_client_

protected

Service client to the "/controller_manager/switch_controller" service.

Used to request activation and deactivation of controllers.

◆ ui_

Ui::BioscaraUI* bioscara_rviz_plugin::BioscaraPanel::ui_

protected

The QT object containing all UI elements.

Autogenerated from the "bioscara_rviz_plugin_frame.ui" file.

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

lib/ros2_ws/src/bioscara_rviz_plugin/include/bioscara_rviz_plugin/bioscara_panel.hpp
lib/ros2_ws/src/bioscara_rviz_plugin/src/bioscara_panel.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Private Slots

Detailed Description

Constructor & Destructor Documentation

◆ BioscaraPanel()

◆ ~BioscaraPanel()

Member Function Documentation

◆ arm_en_btn_cb

◆ check_activation_conditions()

◆ cm_state_callback()

◆ configure_controller()

◆ ctrl_en_btn_cb()

◆ dynamic_joint_state_msg_to_map()

◆ ensure_jsb_is_active()

◆ gripper_en_btn_cb

◆ homing_cmd()

◆ joint_state_callback()

◆ named_lcs_msg_to_map()

◆ onInitialize()

◆ prepopulate_joint_state_map()

◆ prepopulate_state_map()

◆ print_cm_map()

◆ set_controller_state()

◆ set_en_btn()

◆ set_hardware_component_state()

◆ set_homing_state_label()

◆ set_state_label()

◆ switch_controllers()

◆ target_state_from_current()

◆ update_homing_grp_state()

◆ update_homing_state_labels()

◆ update_state_label_and_btn()

◆ update_state_labels_and_btns()

Member Data Documentation

◆ cm_state_subsription_

◆ configure_controller_client_

◆ controller_states_

◆ hardware_state_client_

◆ hardware_states_

◆ homing_publisher_

◆ joint_state_subsription_

◆ joint_states_

◆ node_

◆ prune_timer_

◆ switch_controller_client_

◆ ui_