real_arm_node.cpp File Reference

Contains the main for the real arm. We start the publishers / subscribers in this node. They all share the same RealArm object, this way the subscriber can update the arm properties, while the publishers publish up to date data. The diagnostics and the other publisher are started in two different threads, to allow them to be published at different frequencies. More...

#include <ros/ros.h>
#include <boost/thread.hpp>
#include <boost/smart_ptr.hpp>
#include "sr_hand/sr_subscriber.h"
#include <vector>
#include <string>
#include <map>
#include <sr_robot_msgs/joints_data.h>
#include <sr_robot_msgs/joint.h>
#include <sr_robot_msgs/contrlr.h>
#include <sr_robot_msgs/sendupdate.h>
#include <sr_robot_msgs/config.h>
#include <sr_robot_msgs/reverseKinematics.h>
#include "sr_hand/hand/sr_articulated_robot.h"
#include "sr_hand/hand/real_arm.h"
Include dependency graph for real_arm_node.cpp:
This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Functions

int main (int argc, char **argv)
void run_diagnotics (boost::shared_ptr< SRDiagnosticer > shadowhand_diag)
void run_publisher (boost::shared_ptr< SRPublisher > shadowhand_pub)

Detailed Description

Contains the main for the real arm. We start the publishers / subscribers in this node. They all share the same RealArm object, this way the subscriber can update the arm properties, while the publishers publish up to date data. The diagnostics and the other publisher are started in two different threads, to allow them to be published at different frequencies.

Author:
Ugo Cupcic <ugo@shadowrobot.com>, Contact <contact@shadowrobot.com>
Date:
Tue Jun 29 14:56:10 2010

Copyright 2011 Shadow Robot Company Ltd.

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>.

Definition in file real_arm_node.cpp.


Function Documentation

int main ( int  argc,
char **  argv 
)

The main function initialises this ROS subscriber and sets the different callbacks. This ROS subscriber will listen for new commands and send them to the real robot.

Parameters:
argc 
argv 
Returns:
0 on success

Definition at line 73 of file real_arm_node.cpp.

void run_diagnotics ( boost::shared_ptr< SRDiagnosticer shadowhand_diag  ) 

Definition at line 50 of file real_arm_node.cpp.

void run_publisher ( boost::shared_ptr< SRPublisher shadowhand_pub  ) 

Definition at line 56 of file real_arm_node.cpp.

 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator


sr_hand
Author(s): Ugo Cupcic / ugo@shadowrobot.com, contact@shadowrobot.com
autogenerated on Fri Jan 11 09:32:55 2013