SdhNode Class Reference

Implementation of ROS node for sdh. More...

Public Member Functions
void	executeCB (const control_msgs::FollowJointTrajectoryGoalConstPtr &goal)
	Executes the callback from the actionlib.
bool	init ()
	Initializes node to get parameters, subscribe and publish to topics.
bool	parseDegFromJointValue (const brics_actuator::JointValue &val, double &deg_val)
	SdhNode (std::string name)
	Constructor for SdhNode class.
bool	srvCallback_Init (cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res)
	Executes the service callback for init.
bool	srvCallback_Recover (cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res)
	Executes the service callback for recover.
bool	srvCallback_SetOperationMode (cob_srvs::SetOperationMode::Request &req, cob_srvs::SetOperationMode::Response &res)
	Executes the service callback for set_operation_mode.
bool	srvCallback_Stop (cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res)
	Executes the service callback for stop.
void	topicCallback_setVelocities (const brics_actuator::JointVelocities::ConstPtr &msg)
void	topicCallback_setVelocitiesRaw (const std_msgs::Float32MultiArrayPtr &velocities)
void	updateDsa ()
	Main routine to update dsa.
void	updateSdh ()
	Main routine to update sdh.
	~SdhNode ()
	Destructor for SdhNode class.
Public Attributes
ros::NodeHandle	nh_
	create a handle for this node, initialize node
Private Attributes
std::string	action_name_
actionlib::SimpleActionServer < control_msgs::FollowJointTrajectoryAction >	as_
std::vector< int >	axes_
int	baudrate_
int	DOF_
SDH::cDSA *	dsa_
int	dsadevicenum_
std::string	dsadevicestring_
bool	hasNewGoal_
int	id_read_
int	id_write_
bool	isDSAInitialized_
bool	isError_
bool	isInitialized_
std::vector< std::string >	joint_names_
std::string	operationMode_
double	pi_
SDH::cSDH *	sdh_
int	sdhdevicenum_
std::string	sdhdevicestring_
std::string	sdhdevicetype_
ros::ServiceServer	srvServer_Init_
ros::ServiceServer	srvServer_Recover_
ros::ServiceServer	srvServer_SetOperationMode_
ros::ServiceServer	srvServer_Stop_
std::vector < SDH::cSDH::eAxisState >	state_
ros::Subscriber	subSetVelocities_
ros::Subscriber	subSetVelocitiesRaw_
std::vector< double >	targetAngles_
double	timeout_
ros::Publisher	topicPub_ControllerState_
ros::Publisher	topicPub_Diagnostics_
ros::Publisher	topicPub_JointState_
ros::Publisher	topicPub_TactileSensor_
trajectory_msgs::JointTrajectory	traj_
std::vector< double >	velocities_

Detailed Description

Implementation of ROS node for sdh.

Offers actionlib and direct command interface.

Definition at line 99 of file sdh.cpp.

Constructor & Destructor Documentation

SdhNode::SdhNode ( std::string name ) [inline]

Constructor for SdhNode class.

Parameters:

name

Name for the actionlib server

Definition at line 163 of file sdh.cpp.

SdhNode::~SdhNode ( ) [inline]

Destructor for SdhNode class.

Definition at line 179 of file sdh.cpp.

Member Function Documentation

void SdhNode::executeCB ( const control_msgs::FollowJointTrajectoryGoalConstPtr & goal ) [inline]

Executes the callback from the actionlib.

Set the current goal to aborted after receiving a new goal and write new goal to a member variable. Wait for the goal to finish and set actionlib status to succeeded.

Parameters:

goal

JointTrajectoryGoal

Definition at line 272 of file sdh.cpp.

bool SdhNode::init ( ) [inline]

Initializes node to get parameters, subscribe and publish to topics.

Definition at line 192 of file sdh.cpp.