A helper library for ROS/IOP-Bridge OCU nodes. This library combines the IOP client services (AccessControlClient, DiscoveryClient and ManagementClient) and listen to the command of the master (ocu_rqt_access_control_fkie) to synchronize the access of multiple OCU client to robot services.
Each OCU client needs to implement SlaveHandlerInterface interface class. All client plugins use the functionality of the same Slave instance.
This package is part of ROS/IOP Bridge.
control_addr (str, (Default: "")
The JAUS address if only a specific component, node or system are controlled by the client. Supported formats: XX, XX.XX or XX.XX.XX
authority (int, (Default: 205)
The authority for access control.
access_control (int, (Default: 10)
Access state after start the component. States: 10:ACCESS_CONTROL_RELEASE, 11:ACCESS_CONTROL_MONITOR, 12:ACCESS_CONTROL_REQUEST
use_queries (bool, (Default: false)
Use queries on true instead of events to get reports from robot services.
only_monitor (bool, (Default: false)
Uses client only for monitoring if true and does not allow access control.
subsystem_restricted (int, (Default: 65535)
This client can control only the specified subsystem (robot). Any by default.
controlled_component (int, (Default: 1)
Use this parameter if more than one component with requested service is available on robot. Returns the service in the list, beginning with 1.
force_monitor_on_start (bool, (Default: false)
Start monitoring the component declared in 'control_addr' immediately. No effect if 'control_addr' is not set!
/ocu_feedback (fkie_iop_msgs::OcuFeedback)
Publishes the current control state and occurred errors.
/ocu_cmd (fkie_iop_msgs::OcuCmd)
Receives the commands from iop_rqt_access_control GUI.