From ea37939dc0cedde43a99687798116f0d5265abd9 Mon Sep 17 00:00:00 2001 From: mhubii Date: Sat, 29 Jul 2023 11:56:11 +0100 Subject: [PATCH] updated fig --- lbr_fri_ros2/doc/img/lbr_fri_ros2.drawio.svg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/lbr_fri_ros2/doc/img/lbr_fri_ros2.drawio.svg b/lbr_fri_ros2/doc/img/lbr_fri_ros2.drawio.svg index 2c3f284a..74e0c8e4 100644 --- a/lbr_fri_ros2/doc/img/lbr_fri_ros2.drawio.svg +++ b/lbr_fri_ros2/doc/img/lbr_fri_ros2.drawio.svg @@ -1,4 +1,4 @@ -
lbr_fri_msgs
lbr_fri_msgs
lbr_fri_ros2
lbr_fri_ros2
fri
fri
KUKA::FRI::LBRCommand
KUKA::FRI::LBRCommand
KUKA::FRI::LBRState
KUKA::FRI::LBRState
KUKA::FRI::UdpConnection
KUKA::FRI::UdpConnection
KUKA::FRI::LBRClient
KUKA::FRI::LBRClient
+ monitor(): void
+ waitForCommand(): void
+ command(): void
+ onStateChange(): void
+ monitor(): void...
send encoded
KUKA::FRI::LBRCommand
send encoded...
send encoded
KUKA::FRI::LBRState
send encoded...
KUKA::FRI::ClientApplication
KUKA::FRI::ClientApplication
+ connect(port: int, remoteHost: const char*): bool
+ disconnect(): void
+ step(): bool
+ connect(port: int, remoteHost: const char*):...
parent
parent
child
child
lbr_fri_ros2::LBRCommandGuard
lbr_fri_ros2::LBRCommandGuard
+ LBRCommandGuard(robot_description: const std::string &)
+ is_valid_command(
lbr_command: const lbr_fri_msgs::msg::LBRCommand &,
lbr_state: const KUKA::FRI::LBRState &
): bool {query}
+ LBRCommandGuard(robot_description: const std::string &)...
rclcpp::Node
rclcpp::Node
subscribe lbr_fri_msg::msg::LBRState
to /lbr_state
subscribe lbr_fri_msg::msg::LBRState...
lbr_fri_ros2::LBRApp
lbr_fri_ros2::LBRApp
# node_: rclcpp::Node::SharedPtr
# run_thread_: std::unique_ptr<std::thread>
# app_connect_srv_: rclcpp::Service<lbr_fri_msgs::srv::AppConnect>::SharedPtr
# app_disconnect_srv_: rclcpp::Service<lbr_fri_msgs::srv::AppDisconnect>::SharedPtr
# node_: rclcpp::Node::SharedPtr...
# run_(): void

# run_(): void
publish lbr_fri_msg::msg::LBRCommand
to /lbr_command
publish lbr_fri_msg::msg::LBRCommand...
lbr_fri_msgs::srv::AppConnect
lbr_fri_msgs::srv::AppConnect
lbr_fri_msgs::srv::AppDisconnect
lbr_fri_msgs::srv::AppDisconnect
lbr_fri_msgs::msg::LBRCommand
lbr_fri_msgs::msg::LBRCommand
lbr_fri_msgs::msg::LBRState
lbr_fri_msgs::msg::LBRState
Userland
Userland
Robot
Robot
High-level
High-level
KUKA
KUKA
lbr_fri_ros2_stack
lbr_fri_ros2_stack
ROS 2
ROS 2
lbr_fri_ros2::LBRClient
lbr_fri_ros2::LBRClient
# node_: rclcpp::Node::SharedPtr
# lbr_command_: lbr_fri_msgs::msg::LBRCommand
# lbr_state_: lbr_fri_msgs::msg::LBRState
# lbr_command_sub_: rclcpp::Subscription<lbr_fri_msgs::msg::LBRCommand>::SharedPtr
# lbr_state_pub_: rclcpp::Publisher<lbr_fri_msgs::msg::LBRState>::SharedPtr
# lbr_command_guard: std::unique_ptr<lbr_fri_ros2::LBRCommandGuard>
# node_: rclcpp::Node::SharedPtr...
+ monitor(): void
+ waitForCommand(): void
+ command(): void
+ onStateChange(): void
# pub_lbr_state_(): void
# on_lbr_command_(const lbr_fri_msgs::msg::LBRCommand::SharedPtr): void
+ monitor(): void...Text is not SVG - cannot display \ No newline at end of file +
lbr_fri_msgs
lbr_fri_msgs
lbr_fri_ros2
lbr_fri_ros2
fri
fri
KUKA::FRI::LBRCommand
KUKA::FRI::LBRCommand
KUKA::FRI::LBRState
KUKA::FRI::LBRState
KUKA::FRI::UdpConnection
KUKA::FRI::UdpConnection
KUKA::FRI::LBRClient
KUKA::FRI::LBRClient
+ monitor(): void
+ waitForCommand(): void
+ command(): void
+ onStateChange(): void
+ monitor(): void...
send encoded
KUKA::FRI::LBRCommand
send encoded...
send encoded
KUKA::FRI::LBRState
send encoded...
KUKA::FRI::ClientApplication
KUKA::FRI::ClientApplication
+ connect(port: int, remoteHost: const char*): bool
+ disconnect(): void
+ step(): bool
+ connect(port: int, remoteHost: const char*):...
parent
parent
child
child
lbr_fri_ros2::LBRCommandGuard
lbr_fri_ros2::LBRCommandGuard
+ LBRCommandGuard(robot_description: const std::string &)
+ is_valid_command(
lbr_command: const lbr_fri_msgs::msg::LBRCommand &,
lbr_state: const KUKA::FRI::LBRState &
): bool {query}
+ LBRCommandGuard(robot_description: const std::string &)...
rclcpp::Node
rclcpp::Node
subscribe lbr_fri_msg::msg::LBRState
to ~/state
subscribe lbr_fri_msg::msg::LBRState...
lbr_fri_ros2::LBRApp
lbr_fri_ros2::LBRApp
# node_: rclcpp::Node::SharedPtr
# run_thread_: std::unique_ptr<std::thread>
# app_connect_srv_: rclcpp::Service<lbr_fri_msgs::srv::AppConnect>::SharedPtr
# app_disconnect_srv_: rclcpp::Service<lbr_fri_msgs::srv::AppDisconnect>::SharedPtr
# node_: rclcpp::Node::SharedPtr...
# run_(): void

# run_(): void
publish lbr_fri_msg::msg::LBRCommand
to ~/command
publish lbr_fri_msg::msg::LBRCommand...
lbr_fri_msgs::srv::AppConnect
lbr_fri_msgs::srv::AppConnect
lbr_fri_msgs::srv::AppDisconnect
lbr_fri_msgs::srv::AppDisconnect
lbr_fri_msgs::msg::LBRCommand
lbr_fri_msgs::msg::LBRCommand
lbr_fri_msgs::msg::LBRState
lbr_fri_msgs::msg::LBRState
Userland
Userland
Robot
Robot
High-level
High-level
KUKA
KUKA
lbr_fri_ros2_stack
lbr_fri_ros2_stack
ROS 2
ROS 2
lbr_fri_ros2::LBRClient
lbr_fri_ros2::LBRClient
# node_: rclcpp::Node::SharedPtr
# lbr_command_: lbr_fri_msgs::msg::LBRCommand
# lbr_state_: lbr_fri_msgs::msg::LBRState
# lbr_command_sub_: rclcpp::Subscription<lbr_fri_msgs::msg::LBRCommand>::SharedPtr
# lbr_state_pub_: rclcpp::Publisher<lbr_fri_msgs::msg::LBRState>::SharedPtr
# lbr_command_guard: std::unique_ptr<lbr_fri_ros2::LBRCommandGuard>
# node_: rclcpp::Node::SharedPtr...
+ monitor(): void
+ waitForCommand(): void
+ command(): void
+ onStateChange(): void
# pub_lbr_state_(): void
# on_lbr_command_(const lbr_fri_msgs::msg::LBRCommand::SharedPtr): void
+ monitor(): void...Text is not SVG - cannot display \ No newline at end of file