#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 <stdio.h>
#include <string>
#include "controlAllegroHand.h"

Include dependency graph for allegroNode.cpp:

Defines
#define	EXT_CMD_TOPIC "/allegroHand/external_cmd"
#define	JOINT_CMD_TOPIC "/allegroHand/joint_cmd"
#define	JOINT_CURRENT_TOPIC "/allegroHand/joint_current_states"
#define	JOINT_DESIRED_TOPIC "/allegroHand/joint_desired_states"
#define	JOINT_STATE_TOPIC "/allegroHand/joint_states"
Functions
void	extCmdCallback (const std_msgs::String::ConstPtr &msg)
int	main (int argc, char **argv)
void	SetjointCallback (const sensor_msgs::JointState &msg)
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}
double	desired_velocity [DOF_JOINTS] = {0.0}
double	dt
std::string	ext_cmd
ros::Subscriber	external_cmd_sub
int	frame = 0
ros::Subscriber	joint_cmd_sub
ros::Publisher	joint_state_pub
std::string	jointNames [DOF_JOINTS]
int	lEmergencyStop = 0
sensor_msgs::JointState	msgJoint
boost::mutex *	mutex
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 EXT_CMD_TOPIC "/allegroHand/external_cmd"

Definition at line 41 of file allegroNode.cpp.

#define JOINT_CMD_TOPIC "/allegroHand/joint_cmd"

Definition at line 40 of file allegroNode.cpp.

#define JOINT_CURRENT_TOPIC "/allegroHand/joint_current_states"

Definition at line 44 of file allegroNode.cpp.

#define JOINT_DESIRED_TOPIC "/allegroHand/joint_desired_states"

Definition at line 43 of file allegroNode.cpp.

#define JOINT_STATE_TOPIC "/allegroHand/joint_states"

Definition at line 39 of file allegroNode.cpp.

Function Documentation

void extCmdCallback ( const std_msgs::String::ConstPtr & msg )

Definition at line 100 of file allegroNode.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 119 of file allegroNode.cpp.

void SetjointCallback ( const sensor_msgs::JointState & msg )

Definition at line 92 of file allegroNode.cpp.

Variable Documentation

controlAllegroHand* canDevice

Definition at line 87 of file allegroNode.cpp.

double current_position[DOF_JOINTS] = {0.0}

Definition at line 48 of file allegroNode.cpp.

double current_position_filtered[DOF_JOINTS] = {0.0}

Definition at line 50 of file allegroNode.cpp.

double current_velocity[DOF_JOINTS] = {0.0}

Definition at line 54 of file allegroNode.cpp.

double current_velocity_filtered[DOF_JOINTS] = {0.0}

Definition at line 56 of file allegroNode.cpp.

double desired_position[DOF_JOINTS] = {0.0}

Definition at line 47 of file allegroNode.cpp.

double desired_torque[DOF_JOINTS] = {0.0}

Definition at line 58 of file allegroNode.cpp.

double desired_velocity[DOF_JOINTS] = {0.0}

Definition at line 53 of file allegroNode.cpp.

double dt

Definition at line 84 of file allegroNode.cpp.

std::string ext_cmd

Definition at line 78 of file allegroNode.cpp.

ros::Subscriber external_cmd_sub

Definition at line 76 of file allegroNode.cpp.

int frame = 0

Definition at line 66 of file allegroNode.cpp.

ros::Subscriber joint_cmd_sub

Definition at line 75 of file allegroNode.cpp.

ros::Publisher joint_state_pub

Definition at line 74 of file allegroNode.cpp.

std::string jointNames[DOF_JOINTS]

Initial value:

 {    "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" }