Class PressureConverter

Defined in File pressure_converter.hpp

Class Documentation

class PressureConverter

Public Functions

PressureConverter(rclcpp::Node::SharedPtr nh, char side)

Private Functions

void pressureCallback(bitbots_msgs::msg::FootPressure pressure_raw)

void resetZeroAndScaleValues()

bool zeroCallback(const std::shared_ptr<std_srvs::srv::Empty::Request> req, std::shared_ptr<std_srvs::srv::Empty::Response> resp)

bool scaleCallback(const std::shared_ptr<bitbots_msgs::srv::FootScale::Request> req, std::shared_ptr<bitbots_msgs::srv::FootScale::Response> resp)

void collectMessages()

void saveYAML()

Private Members

rclcpp::Node::SharedPtr nh_

rclcpp::executors::StaticSingleThreadedExecutor sub_executor_

rclcpp::CallbackGroup::SharedPtr sub_cbg_

std::shared_ptr<std::thread> sub_executor_thread_

rclcpp::Publisher<bitbots_msgs::msg::FootPressure>::SharedPtr filtered_pub_

rclcpp::Publisher<geometry_msgs::msg::PointStamped>::SharedPtr cop_pub_

std::vector<rclcpp::Publisher<geometry_msgs::msg::WrenchStamped>::SharedPtr> wrench_pubs_

rclcpp::Subscription<bitbots_msgs::msg::FootPressure>::SharedPtr sub_

std::unique_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_

std::vector<std::string> wrench_frames_

std::vector<double> zero_

std::vector<double> scale_

std::vector<std::vector<double>> previous_values_

std::vector<std::vector<double>> zero_and_scale_values_

bool save_zero_and_scale_values_

int current_index_

int average_

int scale_and_zero_average_

double cop_threshold_

char side_

std::string req_type_

std::string scale_lr_

std::string zero_lr_

std::string cop_lr_

std::string sole_lr_

std::shared_ptr<bitbots_msgs::srv::FootScale::Request> request_

rclcpp::Service<std_srvs::srv::Empty>::SharedPtr zero_service_

rclcpp::Service<bitbots_msgs::srv::FootScale>::SharedPtr scale_service_