#include <dynamic_reconfigure/server.h>#include <ros/ros.h>#include "std_msgs/String.h"#include <time.h>#include <ubiquity_motor/PIDConfig.h>#include <ubiquity_motor/motor_hardware.h>#include <ubiquity_motor/motor_message.h>#include <ubiquity_motor/motor_parameters.h>#include <boost/thread.hpp>#include <iostream>#include <string>#include "controller_manager/controller_manager.h"
Go to the source code of this file.
Macros | |
| #define | WHEEL_SLIP_THRESHOLD (0.08) |
Functions | |
| void | initMcbParameters (std::unique_ptr< MotorHardware > &robot) |
| int | main (int argc, char *argv[]) |
| void | PID_update_callback (const ubiquity_motor::PIDConfig &config, uint32_t level) |
| void | SystemControlCallback (const std_msgs::String::ConstPtr &msg) |
Variables | |
| static const double | BILLION = 1000000000.0 |
| static FirmwareParams | g_firmware_params |
| static NodeParams | g_node_params |
| static CommsParams | g_serial_params |
| int | g_wheel_slip_nulling = 0 |
| ros::Duration | mcbStatusPeriodSec (0.02) |
Macro Definition Documentation
◆ WHEEL_SLIP_THRESHOLD
| #define WHEEL_SLIP_THRESHOLD (0.08) |
Definition at line 51 of file motor_node.cc.
Function Documentation
◆ initMcbParameters()
| void initMcbParameters | ( | std::unique_ptr< MotorHardware > & | robot | ) |
Definition at line 126 of file motor_node.cc.
◆ main()
| int main | ( | int | argc, |
| char * | argv[] | ||
| ) |
Definition at line 288 of file motor_node.cc.
◆ PID_update_callback()
| void PID_update_callback | ( | const ubiquity_motor::PIDConfig & | config, |
| uint32_t | level | ||
| ) |
Definition at line 59 of file motor_node.cc.
◆ SystemControlCallback()
| void SystemControlCallback | ( | const std_msgs::String::ConstPtr & | msg | ) |
Definition at line 87 of file motor_node.cc.
Variable Documentation
◆ BILLION
|
static |
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Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of ubiquity_motor nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Definition at line 44 of file motor_node.cc.
◆ g_firmware_params
|
static |
Definition at line 46 of file motor_node.cc.
◆ g_node_params
|
static |
Definition at line 48 of file motor_node.cc.
◆ g_serial_params
|
static |
Definition at line 47 of file motor_node.cc.
◆ g_wheel_slip_nulling
| int g_wheel_slip_nulling = 0 |
Definition at line 52 of file motor_node.cc.
◆ mcbStatusPeriodSec
| ros::Duration mcbStatusPeriodSec(0.02) |