lbr_fri_ros2::App Class Reference

Inheritance diagram for lbr_fri_ros2::App:

Collaboration diagram for lbr_fri_ros2::App:

Public Member Functions
	App (const std::shared_ptr< AsyncClient > async_client_ptr)
	This clas provides utilities to run the KUKA::FRI::ClientApplication asynchronously. Note that the rate at which the application runs is determined by the robot. This is because the run_thread_ uses blocking function calls from the FRI client SDK, i.e. KUKA::FRI::ClientApplication::step() (this is by KUKA's design).
bool	open_udp_socket (const int &port_id=30200, const char *const remote_host=NULL)
bool	close_udp_socket ()
void	run_async (int rt_prio=80) override
std::string	LOGGER_NAME () const override
Public Member Functions inherited from lbr_fri_ros2::Worker
void	request_stop ()

Protected Member Functions
void	perform_work_ () override
bool	valid_port_ (const int &port_id)

Protected Attributes
std::shared_ptr< AsyncClient >	async_client_ptr_
std::unique_ptr< KUKA::FRI::UdpConnection >	connection_ptr_
std::unique_ptr< KUKA::FRI::ClientApplication >	app_ptr_
Protected Attributes inherited from lbr_fri_ros2::Worker
std::atomic_bool	should_stop_
std::atomic_bool	running_
std::thread	run_thread_

Member Function Documentation

LOGGER_NAME()

std::string lbr_fri_ros2::App::LOGGER_NAME ( ) const

inlineoverridevirtual

Implements lbr_fri_ros2::Worker.

perform_work_()

void lbr_fri_ros2::App::perform_work_ ( )

overrideprotectedvirtual

Implements lbr_fri_ros2::Worker.

run_async()

void lbr_fri_ros2::App::run_async ( int  rt_prio = 80 )

overridevirtual

Reimplemented from lbr_fri_ros2::Worker.

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

• lbr_fri_ros2_stack/lbr_fri_ros2/include/lbr_fri_ros2/app.hpp
• lbr_fri_ros2_stack/lbr_fri_ros2/src/app.cpp