Class ZOArmController

Controller for executing joint-space trajectories on a group of joints. Trajectories are specified as a set of waypoints to be reached at specific time instants, which the controller attempts to execute as well as the mechanism allows. Waypoints consist of positions, and optionally velocities and accelerations.

Inheritance
System.Object
UnityEngine.Object
UnityEngine.Component
UnityEngine.Behaviour
UnityEngine.MonoBehaviour
ZOGameObjectBase
ZOROSUnityGameObjectBase
ZOArmController
Inherited Members
UnityEngine.MonoBehaviour.IsInvoking()
UnityEngine.MonoBehaviour.CancelInvoke()
UnityEngine.MonoBehaviour.Invoke(System.String, System.Single)
UnityEngine.MonoBehaviour.InvokeRepeating(System.String, System.Single, System.Single)
UnityEngine.MonoBehaviour.CancelInvoke(System.String)
UnityEngine.MonoBehaviour.IsInvoking(System.String)
UnityEngine.MonoBehaviour.StartCoroutine(System.String)
UnityEngine.MonoBehaviour.StartCoroutine(System.String, System.Object)
UnityEngine.MonoBehaviour.StartCoroutine(System.Collections.IEnumerator)
UnityEngine.MonoBehaviour.StartCoroutine_Auto(System.Collections.IEnumerator)
UnityEngine.MonoBehaviour.StopCoroutine(System.Collections.IEnumerator)
UnityEngine.MonoBehaviour.StopCoroutine(UnityEngine.Coroutine)
UnityEngine.MonoBehaviour.StopCoroutine(System.String)
UnityEngine.MonoBehaviour.StopAllCoroutines()
UnityEngine.MonoBehaviour.print(System.Object)
UnityEngine.MonoBehaviour.useGUILayout
UnityEngine.MonoBehaviour.runInEditMode
UnityEngine.Behaviour.enabled
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UnityEngine.Component.TryGetComponent<T>(T)
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UnityEngine.Component.GetComponentInChildren(System.Type)
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UnityEngine.Component.GetComponentsInChildren(System.Type, System.Boolean)
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UnityEngine.Object.FindSceneObjectsOfType(System.Type)
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Namespace: ZO.ROS.Controllers
Assembly: Unity.ZeroSim.dll
Syntax
[RequireComponent(typeof(ZOROSJointStatesPublisher))]
public class ZOArmController : ZOROSUnityGameObjectBase, ZOROSUnityInterface, ZOSerializationInterface, ZOROSControllerInterface

Properties

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ActionMessage

Declaration
public FollowJointTrajectoryActionMessage ActionMessage { get; }
Property Value
Type Description
FollowJointTrajectoryActionMessage
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ActionServer

The ROS Action server that handles arm movement goal messaging. (readonly)

Declaration
public ZOROSActionServer<FollowJointTrajectoryActionMessage, FollowJointTrajectoryActionGoal> ActionServer { get; }
Property Value
Type Description
ZOROSActionServer<FollowJointTrajectoryActionMessage, FollowJointTrajectoryActionGoal>
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ControllerName

Declaration
public string ControllerName { get; }
Property Value
Type Description
System.String
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ControllerState

Returns controller state of Stopped, Initialize, or Running

Declaration
public ControllerStateEnum ControllerState { get; }
Property Value
Type Description
ControllerStateEnum
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ControllerStateMessage

Build a ControllerStateMessage for the controller manager. Basically just lists all the joints for this arm controller.

Declaration
public ControllerStateMessage ControllerStateMessage { get; }
Property Value
Type Description
ControllerStateMessage
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ControllerType

Declaration
public string ControllerType { get; }
Property Value
Type Description
System.String
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HardwareInterface

Declaration
public string HardwareInterface { get; }
Property Value
Type Description
System.String
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JointNames

Get an array of Joint names.

Declaration
public string[] JointNames { get; }
Property Value
Type Description
System.String[]
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Joints

Get all the joints that are children of this arm controller.
Joints must implement the ZOJointInterface. Fixed joints are ignored.

Declaration
public ZOJointInterface[] Joints { get; }
Property Value
Type Description
ZOJointInterface[]
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Type

Declaration
public override string Type { get; }
Property Value
Type Description
System.String
Overrides

Methods

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Deserialize(ZOSimDocumentRoot, JObject)

Declaration
public override void Deserialize(ZOSimDocumentRoot documentRoot, JObject json)
Parameters
Type Name Description
ZOSimDocumentRoot documentRoot
Newtonsoft.Json.Linq.JObject json
Overrides
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GetJointByName(String)

Get Joint given its string name

Declaration
public ZOJointInterface GetJointByName(string name)
Parameters
Type Name Description
System.String name

The name of the joint
Returns
Type Description
ZOJointInterface

ZOJointInterface
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GetJointPositionsAtTimeSeconds(JointTrajectoryPointMessage[], Single)

Declaration
protected double[] GetJointPositionsAtTimeSeconds(JointTrajectoryPointMessage[] points, float timeSeconds)
Parameters
Type Name Description
JointTrajectoryPointMessage[] points
System.Single timeSeconds
Returns
Type Description
System.Double[]
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LoadController()

Implements ROS Controller Load

Declaration
public void LoadController()
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OnControlMessageReceived(ZOROSBridgeConnection, ZOROSMessageInterface)

This responds to a "simple" JointTrajectoryMessage. This is usually seen in the simple RQT joint controller but NOT used by MoveIt.

Declaration
public Task OnControlMessageReceived(ZOROSBridgeConnection rosBridgeConnection, ZOROSMessageInterface msg)
Parameters
Type Name Description
ZOROSBridgeConnection rosBridgeConnection
ZOROSMessageInterface msg
Returns
Type Description
System.Threading.Tasks.Task
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OnROSBridgeConnected(ZOROSUnityManager)

Declaration
public override void OnROSBridgeConnected(ZOROSUnityManager rosUnityManager)
Parameters
Type Name Description
ZOROSUnityManager rosUnityManager
Overrides
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OnROSBridgeDisconnected(ZOROSUnityManager)

Declaration
public override void OnROSBridgeDisconnected(ZOROSUnityManager rosUnityManager)
Parameters
Type Name Description
ZOROSUnityManager rosUnityManager
Overrides
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Serialize(ZOSimDocumentRoot, Object)

Declaration
public override JObject Serialize(ZOSimDocumentRoot documentRoot, Object parent = null)
Parameters
Type Name Description
ZOSimDocumentRoot documentRoot
UnityEngine.Object parent
Returns
Type Description
Newtonsoft.Json.Linq.JObject
Overrides
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StartController()

Declaration
public void StartController()
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StopController()

Declaration
public void StopController()
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UnloadController()

Implements ROS Controller Unload

Declaration
public void UnloadController()
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ZOAwake()

Declaration
protected override void ZOAwake()
Overrides
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ZOFixedUpdateHzSynchronized()

Declaration
protected override void ZOFixedUpdateHzSynchronized()
Overrides
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ZOOnDestroy()

Declaration
protected override void ZOOnDestroy()
Overrides
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ZOOnGUI()

Declaration
protected override void ZOOnGUI()
Overrides
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ZOReset()

Declaration
protected override void ZOReset()
Overrides
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ZOStart()

Declaration
protected override void ZOStart()
Overrides

Implements