public static MessageTopicNameGenerator getSubscriberTopicNameGenerator(String robotName) { return ROS2Tools.getTopicNameGenerator(robotName, ROS2Tools.BEHAVIOR_MODULE, ROS2TopicQualifier.INPUT); } }
public static MessageTopicNameGenerator getSubscriberTopicNameGenerator(String robotName) { return ROS2Tools.getTopicNameGenerator(robotName, ROS2Tools.KINEMATICS_TOOLBOX, ROS2TopicQualifier.INPUT); } }
public static MessageTopicNameGenerator getSubscriberTopicNameGenerator(String robotName) { return ROS2Tools.getTopicNameGenerator(robotName, ROS2Tools.KINEMATICS_PLANNING_TOOLBOX, ROS2TopicQualifier.INPUT); } }
public static MessageTopicNameGenerator getSubscriberTopicNameGenerator(String robotName) { return ROS2Tools.getTopicNameGenerator(robotName, ROS2Tools.HEIGHT_QUADTREE_TOOLBOX, ROS2TopicQualifier.INPUT); } }
public static MessageTopicNameGenerator subscriberTopicNameGenerator(String robotName) { return getTopicNameGenerator(robotName, ROS2Tools.FOOTSTEP_PLANNER_TOOLBOX, ROS2TopicQualifier.INPUT); } }
public static MessageTopicNameGenerator getPublisherTopicNameGenerator(String robotName) { return ROS2Tools.getTopicNameGenerator(robotName, ROS2Tools.WHOLE_BODY_TRAJECTORY_TOOLBOX, ROS2TopicQualifier.OUTPUT); }
public static MessageTopicNameGenerator getPublisherTopicNameGenerator(String robotName) { return ROS2Tools.getTopicNameGenerator(robotName, ROS2Tools.KINEMATICS_TOOLBOX, ROS2TopicQualifier.OUTPUT); }
public static MessageTopicNameGenerator getPublisherTopicNameGenerator(String robotName) { return ROS2Tools.getTopicNameGenerator(robotName, ROS2Tools.KINEMATICS_PLANNING_TOOLBOX, ROS2TopicQualifier.OUTPUT); }
public static MessageTopicNameGenerator getPublisherTopicNameGenerator(String robotName) { return ROS2Tools.getTopicNameGenerator(robotName, ROS2Tools.BEHAVIOR_MODULE, ROS2TopicQualifier.OUTPUT); }
public static MessageTopicNameGenerator getSubscriberTopicNameGenerator(String robotName) { return ROS2Tools.getTopicNameGenerator(robotName, ROS2Tools.WHOLE_BODY_TRAJECTORY_TOOLBOX, ROS2TopicQualifier.INPUT); }
public static MessageTopicNameGenerator publisherTopicNameGenerator(String robotName) { return getTopicNameGenerator(robotName, ROS2Tools.FOOTSTEP_PLANNER_TOOLBOX, ROS2TopicQualifier.OUTPUT); }
public static MessageTopicNameGenerator getPublisherTopicNameGenerator(String robotName) { return ROS2Tools.getTopicNameGenerator(robotName, ROS2Tools.HEIGHT_QUADTREE_TOOLBOX, ROS2TopicQualifier.OUTPUT); }
public AbstractBehavior(String robotName, String namePrefix, Ros2Node ros2Node) { this.robotName = robotName; this.ros2Node = ros2Node; behaviorName = FormattingTools.addPrefixAndKeepCamelCaseForMiddleOfExpression(namePrefix, getClass().getSimpleName()); registry = new YoVariableRegistry(behaviorName); yoBehaviorStatus = new YoEnum<BehaviorStatus>(namePrefix + "Status", registry, BehaviorStatus.class); hasBeenInitialized = new YoBoolean("hasBeenInitialized", registry); isPaused = new YoBoolean("isPaused" + behaviorName, registry); isAborted = new YoBoolean("isAborted" + behaviorName, registry); percentCompleted = new YoDouble("percentCompleted", registry); behaviorsServices = new ArrayList<>(); footstepPlanningToolboxSubGenerator = ROS2Tools.getTopicNameGenerator(robotName, ROS2Tools.FOOTSTEP_PLANNER_TOOLBOX, ROS2TopicQualifier.INPUT); footstepPlanningToolboxPubGenerator = ROS2Tools.getTopicNameGenerator(robotName, ROS2Tools.FOOTSTEP_PLANNER_TOOLBOX, ROS2TopicQualifier.OUTPUT); kinematicsToolboxSubGenerator = ROS2Tools.getTopicNameGenerator(robotName, ROS2Tools.KINEMATICS_TOOLBOX, ROS2TopicQualifier.INPUT); kinematicsToolboxPubGenerator = ROS2Tools.getTopicNameGenerator(robotName, ROS2Tools.KINEMATICS_TOOLBOX, ROS2TopicQualifier.OUTPUT); kinematicsPlanningToolboxSubGenerator = ROS2Tools.getTopicNameGenerator(robotName, ROS2Tools.KINEMATICS_PLANNING_TOOLBOX, ROS2TopicQualifier.INPUT); kinematicsPlanningToolboxPubGenerator = ROS2Tools.getTopicNameGenerator(robotName, ROS2Tools.KINEMATICS_PLANNING_TOOLBOX, ROS2TopicQualifier.OUTPUT); controllerSubGenerator = ControllerAPIDefinition.getSubscriberTopicNameGenerator(robotName); controllerPubGenerator = ControllerAPIDefinition.getPublisherTopicNameGenerator(robotName); behaviorSubGenerator = IHMCHumanoidBehaviorManager.getSubscriberTopicNameGenerator(robotName); behaviorPubGenerator = IHMCHumanoidBehaviorManager.getPublisherTopicNameGenerator(robotName); textToSpeechPublisher = createPublisher(TextToSpeechPacket.class, ROS2Tools.getDefaultTopicNameGenerator()); }
IHMCRealtimeROS2Publisher<FootstepPlanningRequestPacket> footstepPlanningRequestPublisher = ROS2Tools .createPublisher(localNode, FootstepPlanningRequestPacket.class, ROS2Tools.getTopicNameGenerator(robotName, ROS2Tools.FOOTSTEP_PLANNER_TOOLBOX, ROS2Tools.ROS2TopicQualifier.INPUT)); localNode.spin();
IHMCRealtimeROS2Publisher<FootstepPlanningToolboxOutputStatus> footstepOutputStatusPublisher = ROS2Tools .createPublisher(localNode, FootstepPlanningToolboxOutputStatus.class, ROS2Tools.getTopicNameGenerator(robotName, ROS2Tools.FOOTSTEP_PLANNER_TOOLBOX, ROS2Tools.ROS2TopicQualifier.OUTPUT));
ROS2Tools.getTopicNameGenerator(robotName, ROS2Tools.FOOTSTEP_PLANNER_TOOLBOX, ROS2Tools.ROS2TopicQualifier.INPUT), s -> processFootstepPlannerParametersPacket(s.takeNextData())); ROS2Tools.createCallbackSubscription(localNode, VisibilityGraphsParametersPacket.class, ROS2Tools.getTopicNameGenerator(robotName, ROS2Tools.FOOTSTEP_PLANNER_TOOLBOX, ROS2Tools.ROS2TopicQualifier.INPUT), s -> processVisibilityGraphsParametersPacket(s.takeNextData())); localNode.spin();
ROS2Tools.getTopicNameGenerator(robotName, ROS2Tools.FOOTSTEP_PLANNER_TOOLBOX, ROS2Tools.ROS2TopicQualifier.INPUT), s -> processFootstepPlanningRequestPacket(s.takeNextData())); localNode.spin();