#include <ROSComm.hh>
Public Member Functions | |
| bool | configure (FRIThread *fri) |
| void | finish () |
| bool | open () |
| void | publishData (const RobotData &data, const RobotCommand &cmd) |
| void | publishStatus (const RobotStatus &status) |
| ROSComm () | |
| bool | runstop () |
| void | start (FRIThread *fri) |
| ~ROSComm () | |
Private Member Functions | |
| void | impedanceCommand (const kuka_fri::ImpedanceCommand::ConstPtr &msg) |
| void * | run () |
| void | runstop_receiver (const std_msgs::BoolConstPtr &msg) |
| void | status_update (diagnostic_updater::DiagnosticStatusWrapper &s) |
Static Private Member Functions | |
| static void * | run_s (void *ptr) |
Private Attributes | |
| diagnostic_updater::Updater * | diagnostic_ |
| bool | exitRequested_ |
| FRIThread * | fri_ |
| sensor_msgs::JointState | joint_state_ |
| ros::NodeHandle * | n_ |
| ros::Publisher | pub_ |
| double | rate_ |
| bool | running_ |
| std::string | side_ |
| soft_runstop::Handler * | soft_runstop_handler_ |
| RobotStatus | status_ |
| ros::Subscriber | sub_ |
| pthread_t | thread_ |
Definition at line 15 of file ROSComm.hh.
| ROSComm::ROSComm | ( | ) |
Definition at line 11 of file ROSComm.cc.
| ROSComm::~ROSComm | ( | ) |
Definition at line 18 of file ROSComm.cc.
| bool ROSComm::configure | ( | FRIThread * | fri | ) |
Definition at line 25 of file ROSComm.cc.
| void ROSComm::finish | ( | ) |
Definition at line 244 of file ROSComm.cc.
| void ROSComm::impedanceCommand | ( | const kuka_fri::ImpedanceCommand::ConstPtr & | msg | ) | [private] |
Definition at line 165 of file ROSComm.cc.
| bool ROSComm::open | ( | ) |
Definition at line 117 of file ROSComm.cc.
| void ROSComm::publishData | ( | const RobotData & | data, | |
| const RobotCommand & | cmd | |||
| ) |
Definition at line 141 of file ROSComm.cc.
| void ROSComm::publishStatus | ( | const RobotStatus & | status | ) |
Definition at line 158 of file ROSComm.cc.
| void * ROSComm::run | ( | void | ) | [private] |
Definition at line 202 of file ROSComm.cc.
| static void* ROSComm::run_s | ( | void * | ptr | ) | [inline, static, private] |
Definition at line 46 of file ROSComm.hh.
| bool ROSComm::runstop | ( | ) |
Definition at line 189 of file ROSComm.cc.
| void ROSComm::runstop_receiver | ( | const std_msgs::BoolConstPtr & | msg | ) | [private] |
| void ROSComm::start | ( | FRIThread * | fri | ) |
Definition at line 195 of file ROSComm.cc.
| void ROSComm::status_update | ( | diagnostic_updater::DiagnosticStatusWrapper & | s | ) | [private] |
Definition at line 73 of file ROSComm.cc.
diagnostic_updater::Updater* ROSComm::diagnostic_ [private] |
Definition at line 39 of file ROSComm.hh.
bool ROSComm::exitRequested_ [private] |
Definition at line 49 of file ROSComm.hh.
FRIThread* ROSComm::fri_ [private] |
Definition at line 43 of file ROSComm.hh.
sensor_msgs::JointState ROSComm::joint_state_ [private] |
Definition at line 40 of file ROSComm.hh.
ros::NodeHandle* ROSComm::n_ [private] |
Definition at line 35 of file ROSComm.hh.
ros::Publisher ROSComm::pub_ [private] |
Definition at line 36 of file ROSComm.hh.
double ROSComm::rate_ [private] |
Definition at line 44 of file ROSComm.hh.
bool ROSComm::running_ [private] |
Definition at line 49 of file ROSComm.hh.
std::string ROSComm::side_ [private] |
Definition at line 29 of file ROSComm.hh.
soft_runstop::Handler* ROSComm::soft_runstop_handler_ [private] |
Definition at line 30 of file ROSComm.hh.
RobotStatus ROSComm::status_ [private] |
Definition at line 31 of file ROSComm.hh.
ros::Subscriber ROSComm::sub_ [private] |
Definition at line 37 of file ROSComm.hh.
pthread_t ROSComm::thread_ [private] |
Definition at line 48 of file ROSComm.hh.
