Publishes contact states from gazebo. More...

Public Member Functions
	ContactStatePublisher (ros::NodeHandle nh)
	Constructor for ContactStatePublisher.

void	spin ()
	Calls ros spinOnce and pubs data at set frequency.

Private Member Functions
void	contactStateCallback (const gazebo_msgs::ContactsState::ConstPtr &msg, const int toe_idx)
	Processes new contact state data.

void	publishContactState ()
	Publishes current contact state data.

Private Attributes
ros::Subscriber	toe0_contact_state_sub
	Subscriber for toe 0.

ros::Subscriber	toe1_contact_state_sub
	Subscriber for toe 1.

ros::Subscriber	toe2_contact_state_sub
	Subscriber for toe 2.

ros::Subscriber	toe3_contact_state_sub
	Subscriber for toe 3.

tf2_ros::Buffer	buffer_
	Tf2 buffer.

tf2_ros::TransformListener	listener_
	TF transform listener.

ros::Publisher	grf_pub_
	ROS publisher for desired GRF.

ros::NodeHandle	nh_
	Nodehandle to pub to and sub from.

double	update_rate_
	Update rate for sending and receiving data;.

const int	num_feet_ = 4
	Number of feet.

quad_msgs::GRFArray	grf_array_msg_
	Most recent local plan.

bool	ready_to_publish_
	Publish ready indicator.

Detailed Description

Publishes contact states from gazebo.

This class subscribes to Gazebo contact state messages and publishes their data under one GRFArray message.

Constructor & Destructor Documentation

ContactStatePublisher::ContactStatePublisher ( ros::NodeHandle nh )

Parameters

[in] nh ROS NodeHandle to publish and subscribe from

void ContactStatePublisher::contactStateCallback	(	const gazebo_msgs::ContactsState::ConstPtr &	msg,
		const int	toe_idx
	)

private

Processes new contact state data.

Parameters

[in] msg New contact state data

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