A class for interfacing between RViz and quad-sdk topics. More...

#include <rviz_interface.h>

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

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

Private Member Functions
void	robotPlanCallback (const quad_msgs::RobotPlan::ConstPtr &msg, const int pub_id)
	Callback function to handle new body plan data.

void	grfCallback (const quad_msgs::GRFArray::ConstPtr &msg)
	Callback function to handle new grf data.

void	discreteBodyPlanCallback (const quad_msgs::RobotPlan::ConstPtr &msg)
	Callback function to handle new body plan discrete state data.

void	footPlanDiscreteCallback (const quad_msgs::MultiFootPlanDiscrete::ConstPtr &msg)
	Callback function to handle new discrete foot plan data.

void	footPlanContinuousCallback (const quad_msgs::MultiFootPlanContinuous::ConstPtr &msg)
	Callback function to handle new continous foot plan data.

void	stateEstimateCallback (const quad_msgs::RobotState::ConstPtr &msg)
	Callback function to handle new state estimate data.

void	robotStateCallback (const quad_msgs::RobotState::ConstPtr &msg, const int pub_id)
	Callback function to handle new robot state data.

Private Attributes
ros::Subscriber	global_plan_sub_
	ROS subscriber for the global plan.

ros::Subscriber	local_plan_sub_
	ROS subscriber for the local plan.

ros::Subscriber	grf_sub_
	ROS subscriber for the current.

ros::Subscriber	discrete_body_plan_sub_
	ROS subscriber for the body plan.

ros::Subscriber	foot_plan_discrete_sub_
	ROS subscriber for the discrete foot plan.

ros::Subscriber	foot_plan_continuous_sub_
	ROS subscriber for the continuous foot plan.

ros::Publisher	global_plan_viz_pub_
	ROS Publisher for the interpolated global plan vizualization.

ros::Publisher	local_plan_viz_pub_
	ROS Publisher for the interpolated local plan vizualization.

ros::Publisher	current_grf_viz_pub_
	ROS Publisher for the current GRFs.

ros::Publisher	local_plan_ori_viz_pub_
	ROS Publisher for local plan orientation vizualization.

ros::Publisher	global_plan_grf_viz_pub_
	ROS Publisher for the interpolated global plan grf vizualization.

ros::Publisher	local_plan_grf_viz_pub_
	ROS Publisher for the interpolated local plan grf vizualization.

ros::Publisher	discrete_body_plan_viz_pub_
	ROS Publisher for the discrete body plan vizualization.

ros::Publisher	foot_plan_discrete_viz_pub_
	ROS Publisher for the footstep plan visualization.

ros::Publisher	state_estimate_trace_pub_
	ROS Publisher for the state estimate body trace.

ros::Publisher	ground_truth_state_trace_pub_
	ROS Publisher for the ground truth state body trace.

ros::Publisher	trajectory_state_trace_pub_
	ROS Publisher for the trajectory state body trace.

ros::Publisher	foot_0_plan_continuous_viz_pub_
	ROS Publisher for the swing leg 0 visualization.

ros::Publisher	foot_1_plan_continuous_viz_pub_
	ROS Publisher for the foot 1 plan visualization.

ros::Publisher	foot_2_plan_continuous_viz_pub_
	ROS Publisher for the foot 2 plan visualization.

ros::Publisher	foot_3_plan_continuous_viz_pub_
	ROS Publisher for the foot 3 plan visualization.

ros::Publisher	estimate_joint_states_viz_pub_
	ROS Publisher for the estimated joint states visualization.

ros::Publisher	ground_truth_joint_states_viz_pub_
	ROS Publisher for the ground truth joint states visualization.

ros::Publisher	trajectory_joint_states_viz_pub_
	ROS Publisher for the trajectory joint states visualization.

ros::Subscriber	state_estimate_sub_
	ROS Subscriber for the state estimate.

ros::Subscriber	ground_truth_state_sub_
	ROS Subscriber for the ground truth state.

ros::Subscriber	trajectory_state_sub_
	ROS Subscriber for the ground truth state.

tf2_ros::TransformBroadcaster	estimate_base_tf_br_

tf2_ros::TransformBroadcaster	ground_truth_base_tf_br_

tf2_ros::TransformBroadcaster	trajectory_base_tf_br_

visualization_msgs::Marker	state_estimate_trace_msg_
	Message for state estimate trace.

visualization_msgs::Marker	ground_truth_state_trace_msg_
	Message for ground truth state trace.

visualization_msgs::Marker	trajectory_state_trace_msg_
	Message for trajectory state trace.

const double	trace_reset_threshold_ = 0.2
	Distance threshold for resetting the state traces.

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

double	update_rate_

int	orientation_subsample_interval_
	Interval for showing orientation of plan.

std::string	map_frame_
	Handle for the map frame.

std::string	tf_prefix_
	Handle multiple robots.

std::vector< int >	front_left_color_
	Colors.

std::vector< int >	back_left_color_

std::vector< int >	front_right_color_

std::vector< int >	back_right_color_

std::vector< int >	net_grf_color_

std::vector< int >	individual_grf_color_

const int	ESTIMATE = 0
	Publisher IDs.

const int	GROUND_TRUTH = 1

const int	TRAJECTORY = 2

const int	GLOBAL = 0

const int	LOCAL = 1

const int	CONNECT = 0

const int	LEAP_STANCE = 1

const int	FLIGHT = 2

const int	LAND_STANCE = 3

Detailed Description

A class for interfacing between RViz and quad-sdk topics.

RVizInterface is a container for all of the logic utilized in the template node. The implementation must provide a clean and high level interface to the core algorithm

Constructor & Destructor Documentation

◆ RVizInterface()

RVizInterface::RVizInterface ( ros::NodeHandle nh )

Constructor for RVizInterface Class.

Parameters

[in] nh ROS NodeHandle to publish and subscribe from

Returns: Constructed object of type RVizInterface

Member Function Documentation

◆ discreteBodyPlanCallback()

void RVizInterface::discreteBodyPlanCallback ( const quad_msgs::RobotPlan::ConstPtr & msg )

private

Callback function to handle new body plan discrete state data.

Parameters

[in] msg plan message contining discrete output of body planner

◆ footPlanContinuousCallback()

void RVizInterface::footPlanContinuousCallback ( const quad_msgs::MultiFootPlanContinuous::ConstPtr & msg )

private

Callback function to handle new continous foot plan data.

Parameters

[in] SwingLegPlan message containing output of swing leg planner

◆ footPlanDiscreteCallback()

void RVizInterface::footPlanDiscreteCallback ( const quad_msgs::MultiFootPlanDiscrete::ConstPtr & msg )

private

Callback function to handle new discrete foot plan data.

Parameters

[in] Footstep plan message containing output of footstep planner

◆ grfCallback()

void RVizInterface::grfCallback ( const quad_msgs::GRFArray::ConstPtr & msg )

private

Callback function to handle new grf data.

Parameters

[in] msg plan message contining interpolated output of body planner

Define the endpoint of the GRF arrow

◆ robotPlanCallback()

void RVizInterface::robotPlanCallback	(	const quad_msgs::RobotPlan::ConstPtr &	msg,
		const int	pub_id
	)

private

Callback function to handle new body plan data.

Parameters

[in] msg plan message contining interpolated output of body planner

Define the endpoint of the GRF arrow

◆ robotStateCallback()

void RVizInterface::robotStateCallback	(	const quad_msgs::RobotState::ConstPtr &	msg,
		const int	pub_id
	)

private

Callback function to handle new robot state data.

Parameters

[in]	msg	RobotState message containing output of the state estimator node
[in]	pub_id	Identifier of which publisher to use to handle this data

◆ stateEstimateCallback()

void RVizInterface::stateEstimateCallback ( const quad_msgs::RobotState::ConstPtr & msg )

private

Callback function to handle new state estimate data.

Parameters

[in] msg RobotState message containing output of the state estimator node

Member Data Documentation

◆ estimate_base_tf_br_

tf2_ros::TransformBroadcaster RVizInterface::estimate_base_tf_br_

private

ROS Transform Broadcaster to publish the estimate transform for the base link

◆ ground_truth_base_tf_br_

tf2_ros::TransformBroadcaster RVizInterface::ground_truth_base_tf_br_

private

ROS Transform Broadcaster to publish the ground truth transform for the base link

◆ trajectory_base_tf_br_

tf2_ros::TransformBroadcaster RVizInterface::trajectory_base_tf_br_

private

ROS Transform Broadcaster to publish the trajectory transform for the base link

◆ update_rate_

double RVizInterface::update_rate_

private

Update rate for sending and receiving data, unused since pubs are called in callbacks

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

quad_utils/include/quad_utils/rviz_interface.h
quad_utils/src/rviz_interface.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RVizInterface()

Member Function Documentation

◆ discreteBodyPlanCallback()

◆ footPlanContinuousCallback()

◆ footPlanDiscreteCallback()

◆ grfCallback()

◆ robotPlanCallback()

◆ robotStateCallback()

◆ stateEstimateCallback()

Member Data Documentation

◆ estimate_base_tf_br_

◆ ground_truth_base_tf_br_

◆ trajectory_base_tf_br_

◆ update_rate_