#include <iostream>#include <boost/thread/thread.hpp>#include <boost/date_time.hpp>#include <boost/thread/locks.hpp>#include "ros/ros.h"#include "ros/service.h"#include "ros/service_server.h"#include "sensor_msgs/JointState.h"#include "std_msgs/String.h"#include "std_msgs/Float32.h"#include <stdio.h>#include <math.h>#include <string>#include "controlAllegroHand.h"
Go to the source code of this file.
Defines | |
| #define | DEGREES_TO_RADIANS(angle) ((angle) / 180.0 * M_PI) |
| #define | EXT_CMD_TOPIC "/allegroHand/external_cmd" |
| #define | JOINT_CMD_TOPIC "/allegroHand/joint_cmd" |
| #define | JOINT_STATE_TOPIC "/allegroHand/joint_states" |
| #define | RADIANS_TO_DEGREES(radians) ((radians) * (180.0 / M_PI)) |
Functions | |
| void | extCmdCallback (const std_msgs::String::ConstPtr &msg) |
| int | main (int argc, char **argv) |
| void | SetjointCallback (const sensor_msgs::JointState &msg) |
| void | timerCallback (const ros::TimerEvent &event) |
Variables | |
| controlAllegroHand * | canDevice |
| double | current_position [DOF_JOINTS] = {0.0} |
| double | current_position_filtered [DOF_JOINTS] = {0.0} |
| double | current_velocity [DOF_JOINTS] = {0.0} |
| double | current_velocity_filtered [DOF_JOINTS] = {0.0} |
| double | desired_position [DOF_JOINTS] = {0.0} |
| double | desired_torque [DOF_JOINTS] = {0.0} |
| std::string | dGainParams [DOF_JOINTS] |
| double | dt |
| std::string | ext_cmd |
| ros::Subscriber | external_cmd_sub |
| int | frame = 0 |
| double | home_pose [DOF_JOINTS] |
| std::string | initialPosition [DOF_JOINTS] |
| ros::Subscriber | joint_cmd_sub |
| ros::Publisher | joint_state_pub |
| std::string | jointNames [DOF_JOINTS] |
| double | k_d [DOF_JOINTS] |
| double | k_p [DOF_JOINTS] |
| int | lEmergencyStop = 0 |
| sensor_msgs::JointState | msgJoint |
| boost::mutex * | mutex |
| std::string | pGainParams [DOF_JOINTS] |
| double | previous_position [DOF_JOINTS] = {0.0} |
| double | previous_position_filtered [DOF_JOINTS] = {0.0} |
| double | previous_velocity [DOF_JOINTS] = {0.0} |
| double | secs |
| ros::Time | tnow |
| ros::Time | tstart |
Define Documentation
| #define DEGREES_TO_RADIANS | ( | angle | ) | ((angle) / 180.0 * M_PI) |
Definition at line 32 of file allegroNode.cpp.
| #define EXT_CMD_TOPIC "/allegroHand/external_cmd" |
Definition at line 38 of file allegroNode.cpp.
| #define JOINT_CMD_TOPIC "/allegroHand/joint_cmd" |
Definition at line 37 of file allegroNode.cpp.
| #define JOINT_STATE_TOPIC "/allegroHand/joint_states" |
Definition at line 36 of file allegroNode.cpp.
| #define RADIANS_TO_DEGREES | ( | radians | ) | ((radians) * (180.0 / M_PI)) |
Definition at line 31 of file allegroNode.cpp.
Function Documentation
| void extCmdCallback | ( | const std_msgs::String::ConstPtr & | msg | ) |
Definition at line 131 of file allegroNode.cpp.
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
Definition at line 240 of file allegroNode.cpp.
| void SetjointCallback | ( | const sensor_msgs::JointState & | msg | ) |
Definition at line 122 of file allegroNode.cpp.
| void timerCallback | ( | const ros::TimerEvent & | event | ) |
Definition at line 153 of file allegroNode.cpp.
Variable Documentation
| controlAllegroHand* canDevice |
Definition at line 113 of file allegroNode.cpp.
| double current_position[DOF_JOINTS] = {0.0} |
Definition at line 40 of file allegroNode.cpp.
| double current_position_filtered[DOF_JOINTS] = {0.0} |
Definition at line 43 of file allegroNode.cpp.
| double current_velocity[DOF_JOINTS] = {0.0} |
Definition at line 46 of file allegroNode.cpp.
| double current_velocity_filtered[DOF_JOINTS] = {0.0} |
Definition at line 48 of file allegroNode.cpp.
| double desired_position[DOF_JOINTS] = {0.0} |
Definition at line 50 of file allegroNode.cpp.
| double desired_torque[DOF_JOINTS] = {0.0} |
Definition at line 51 of file allegroNode.cpp.
| std::string dGainParams[DOF_JOINTS] |
{ "~gains_pd/d/j00", "~gains_pd/d/j01", "~gains_pd/d/j02", "~gains_pd/d/j03",
"~gains_pd/d/j10", "~gains_pd/d/j11", "~gains_pd/d/j12", "~gains_pd/d/j13",
"~gains_pd/d/j20", "~gains_pd/d/j21", "~gains_pd/d/j22", "~gains_pd/d/j23",
"~gains_pd/d/j30", "~gains_pd/d/j31", "~gains_pd/d/j32", "~gains_pd/d/j33"}
Definition at line 75 of file allegroNode.cpp.
| double dt |
Definition at line 110 of file allegroNode.cpp.
| std::string ext_cmd |
Definition at line 104 of file allegroNode.cpp.
Definition at line 102 of file allegroNode.cpp.
| int frame = 0 |
Definition at line 92 of file allegroNode.cpp.
| double home_pose[DOF_JOINTS] |
{ 0.0, -10.0, 45.0, 45.0,
0.0, -10.0, 45.0, 45.0,
5.0, -5.0, 50.0, 45.0,
60.0, 25.0, 15.0, 45.0 }
Definition at line 64 of file allegroNode.cpp.
| std::string initialPosition[DOF_JOINTS] |
{ "~initial_position/j00", "~initial_position/j01", "~initial_position/j02", "~initial_position/j03",
"~initial_position/j10", "~initial_position/j11", "~initial_position/j12", "~initial_position/j13",
"~initial_position/j20", "~initial_position/j21", "~initial_position/j22", "~initial_position/j23",
"~initial_position/j30", "~initial_position/j31", "~initial_position/j32", "~initial_position/j33"}
Definition at line 80 of file allegroNode.cpp.
Definition at line 101 of file allegroNode.cpp.
Definition at line 100 of file allegroNode.cpp.
| std::string jointNames[DOF_JOINTS] |
{ "joint_0.0", "joint_1.0", "joint_2.0", "joint_3.0" ,
"joint_4.0", "joint_5.0", "joint_6.0", "joint_7.0" ,
"joint_8.0", "joint_9.0", "joint_10.0", "joint_11.0",
"joint_12.0", "joint_13.0", "joint_14.0", "joint_15.0" }
Definition at line 86 of file allegroNode.cpp.
| double k_d[DOF_JOINTS] |
{ 15.0, 20.0, 15.0, 15.0,
15.0, 20.0, 15.0, 15.0,
15.0, 20.0, 15.0, 15.0,
30.0, 20.0, 20.0, 15.0 }
Definition at line 58 of file allegroNode.cpp.
| double k_p[DOF_JOINTS] |
{ 600.0, 600.0, 600.0, 1000.0,
600.0, 600.0, 600.0, 1000.0,
600.0, 600.0, 600.0, 1000.0,
1000.0, 1000.0, 1000.0, 600.0 }
Definition at line 53 of file allegroNode.cpp.
| int lEmergencyStop = 0 |
Definition at line 95 of file allegroNode.cpp.
| sensor_msgs::JointState msgJoint |
Definition at line 103 of file allegroNode.cpp.
Definition at line 97 of file allegroNode.cpp.
| std::string pGainParams[DOF_JOINTS] |
{ "~gains_pd/p/j00", "~gains_pd/p/j01", "~gains_pd/p/j02", "~gains_pd/p/j03",
"~gains_pd/p/j10", "~gains_pd/p/j11", "~gains_pd/p/j12", "~gains_pd/p/j13",
"~gains_pd/p/j20", "~gains_pd/p/j21", "~gains_pd/p/j22", "~gains_pd/p/j23",
"~gains_pd/p/j30", "~gains_pd/p/j31", "~gains_pd/p/j32", "~gains_pd/p/j33"}
Definition at line 70 of file allegroNode.cpp.
| double previous_position[DOF_JOINTS] = {0.0} |
Definition at line 41 of file allegroNode.cpp.
| double previous_position_filtered[DOF_JOINTS] = {0.0} |
Definition at line 44 of file allegroNode.cpp.
| double previous_velocity[DOF_JOINTS] = {0.0} |
Definition at line 47 of file allegroNode.cpp.
| double secs |
Definition at line 109 of file allegroNode.cpp.
Definition at line 108 of file allegroNode.cpp.
Definition at line 107 of file allegroNode.cpp.