IRI ROS Specific Driver Class. More...

#include <dynamixel_nc_gripper_driver_node.h>

Inheritance diagram for DynamixelNcGripperDriverNode:

Public Member Functions
	DynamixelNcGripperDriverNode (ros::NodeHandle &nh)
	constructor
	~DynamixelNcGripperDriverNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	addNodeOpenedTests (void)
	open status driver tests
void	addNodeRunningTests (void)
	run status driver tests
void	addNodeStoppedTests (void)
	stop status driver tests
void	mainNodeThread (void)
	main node thread
void	reconfigureNodeHook (int level)
	specific node dynamic reconfigure
Private Member Functions
void	postNodeOpenHook (void)
	post open hook
void	tool_close_actionGetFeedbackCallback (iri_common_drivers_msgs::tool_closeFeedbackPtr &feedback)
void	tool_close_actionGetResultCallback (iri_common_drivers_msgs::tool_closeResultPtr &result)
bool	tool_close_actionHasSucceedCallback (void)
bool	tool_close_actionIsFinishedCallback (void)
void	tool_close_actionStartCallback (const iri_common_drivers_msgs::tool_closeGoalConstPtr &goal)
void	tool_close_actionStopCallback (void)
void	tool_open_actionGetFeedbackCallback (iri_common_drivers_msgs::tool_openFeedbackPtr &feedback)
void	tool_open_actionGetResultCallback (iri_common_drivers_msgs::tool_openResultPtr &result)
bool	tool_open_actionHasSucceedCallback (void)
bool	tool_open_actionIsFinishedCallback (void)
void	tool_open_actionStartCallback (const iri_common_drivers_msgs::tool_openGoalConstPtr &goal)
void	tool_open_actionStopCallback (void)
Private Attributes
bool	is_closed_
bool	is_opened_
IriActionServer < iri_common_drivers_msgs::tool_closeAction >	tool_close_action_aserver_
IriActionServer < iri_common_drivers_msgs::tool_openAction >	tool_open_action_aserver_

Detailed Description

IRI ROS Specific Driver Class.

This class inherits from the IRI Core class IriBaseNodeDriver<IriBaseDriver>, to provide an execution thread to the driver object. A complete framework with utilites to test the node functionallity or to add diagnostics to specific situations is also given. The inherit template design form allows complete access to any IriBaseDriver object implementation.

As mentioned, tests in the different driver states can be performed through class methods such as addNodeOpenedTests() or addNodeRunningTests(). Tests common to all nodes may be also executed in the pattern class IriBaseNodeDriver. Similarly to the tests, diagnostics can easyly be added. See ROS Wiki for more details: http://www.ros.org/wiki/diagnostics/ (Tutorials: Creating a Diagnostic Analyzer) http://www.ros.org/wiki/self_test/ (Example: Self Test)

Definition at line 57 of file dynamixel_nc_gripper_driver_node.h.

Constructor & Destructor Documentation

DynamixelNcGripperDriverNode::DynamixelNcGripperDriverNode ( ros::NodeHandle & nh )

constructor

This constructor mainly creates and initializes the DynamixelNcGripperDriverNode topics through the given public_node_handle object. IriBaseNodeDriver attributes may be also modified to suit node specifications.

All kind of ROS topics (publishers, subscribers, servers or clients) can be easyly generated with the scripts in the iri_ros_scripts package. Refer to ROS and IRI Wiki pages for more details:

http://www.ros.org/wiki/ROS/Tutorials/WritingPublisherSubscriber(c++) http://www.ros.org/wiki/ROS/Tutorials/WritingServiceClient(c++) http://wikiri.upc.es/index.php/Robotics_Lab

Parameters:

nh	a reference to the node handle object to manage all ROS topics.

Definition at line 3 of file dynamixel_nc_gripper_driver_node.cpp.

DynamixelNcGripperDriverNode::~DynamixelNcGripperDriverNode ( void )

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 268 of file dynamixel_nc_gripper_driver_node.cpp.

Member Function Documentation

void DynamixelNcGripperDriverNode::addNodeDiagnostics ( void ) [protected, virtual]

node add diagnostics

In this function ROS diagnostics applied to this specific node may be added. Common use diagnostics for all nodes are already called from IriBaseNodeDriver::addDiagnostics(), which also calls this function. Information of how ROS diagnostics work can be readen here: http://www.ros.org/wiki/diagnostics/ http://www.ros.org/doc/api/diagnostic_updater/html/example_8cpp-source.html

Implements iri_base_driver::IriBaseNodeDriver< DynamixelNcGripperDriver >.

Definition at line 248 of file dynamixel_nc_gripper_driver_node.cpp.

void DynamixelNcGripperDriverNode::addNodeOpenedTests ( void ) [protected, virtual]

open status driver tests

In this function tests checking driver's functionallity when driver_base status=open can be added. Common use tests for all nodes are already called from IriBaseNodeDriver tests methods. For more details on how ROS tests work, please refer to the Self Test example in: http://www.ros.org/wiki/self_test/

Implements iri_base_driver::IriBaseNodeDriver< DynamixelNcGripperDriver >.

Definition at line 252 of file dynamixel_nc_gripper_driver_node.cpp.

void DynamixelNcGripperDriverNode::addNodeRunningTests ( void ) [protected, virtual]

run status driver tests

In this function tests checking driver's functionallity when driver_base status=run can be added. Common use tests for all nodes are already called from IriBaseNodeDriver tests methods. For more details on how ROS tests work, please refer to the Self Test example in: http://www.ros.org/wiki/self_test/

Implements iri_base_driver::IriBaseNodeDriver< DynamixelNcGripperDriver >.

Definition at line 260 of file dynamixel_nc_gripper_driver_node.cpp.

void DynamixelNcGripperDriverNode::addNodeStoppedTests ( void ) [protected, virtual]

stop status driver tests

In this function tests checking driver's functionallity when driver_base status=stop can be added. Common use tests for all nodes are already called from IriBaseNodeDriver tests methods. For more details on how ROS tests work, please refer to the Self Test example in: http://www.ros.org/wiki/self_test/

Implements iri_base_driver::IriBaseNodeDriver< DynamixelNcGripperDriver >.

Definition at line 256 of file dynamixel_nc_gripper_driver_node.cpp.

void DynamixelNcGripperDriverNode::mainNodeThread ( void ) [protected, virtual]

main node thread

This is the main thread node function. Code written here will be executed in every node loop while the driver is on running state. Loop frequency can be tuned by modifying loop_rate attribute.

Here data related to the process loop or to ROS topics (mainly data structs related to the MSG and SRV files) must be updated. ROS publisher objects must publish their data in this process. ROS client servers may also request data to the corresponding server topics.

Implements iri_base_driver::IriBaseNodeDriver< DynamixelNcGripperDriver >.

Definition at line 41 of file dynamixel_nc_gripper_driver_node.cpp.

void DynamixelNcGripperDriverNode::postNodeOpenHook ( void ) [private, virtual]

post open hook

This function is called by IriBaseNodeDriver::postOpenHook(). In this function specific parameters from the driver must be added so the ROS dynamic reconfigure application can update them.

Implements iri_base_driver::IriBaseNodeDriver< DynamixelNcGripperDriver >.

Definition at line 244 of file dynamixel_nc_gripper_driver_node.cpp.

void DynamixelNcGripperDriverNode::reconfigureNodeHook ( int level ) [protected, virtual]

specific node dynamic reconfigure

This function is called reconfigureHook()

Parameters:

level integer

Implements iri_base_driver::IriBaseNodeDriver< DynamixelNcGripperDriver >.

Definition at line 264 of file dynamixel_nc_gripper_driver_node.cpp.

void DynamixelNcGripperDriverNode::tool_close_actionGetFeedbackCallback ( iri_common_drivers_msgs::tool_closeFeedbackPtr & feedback ) [private]

Definition at line 226 of file dynamixel_nc_gripper_driver_node.cpp.

void DynamixelNcGripperDriverNode::tool_close_actionGetResultCallback ( iri_common_drivers_msgs::tool_closeResultPtr & result ) [private]

Definition at line 218 of file dynamixel_nc_gripper_driver_node.cpp.

bool DynamixelNcGripperDriverNode::tool_close_actionHasSucceedCallback ( void ) [private]

Definition at line 205 of file dynamixel_nc_gripper_driver_node.cpp.

bool DynamixelNcGripperDriverNode::tool_close_actionIsFinishedCallback ( void ) [private]

Definition at line 189 of file dynamixel_nc_gripper_driver_node.cpp.

void DynamixelNcGripperDriverNode::tool_close_actionStartCallback ( const iri_common_drivers_msgs::tool_closeGoalConstPtr & goal ) [private]

Definition at line 154 of file dynamixel_nc_gripper_driver_node.cpp.

void DynamixelNcGripperDriverNode::tool_close_actionStopCallback ( void ) [private]

Definition at line 176 of file dynamixel_nc_gripper_driver_node.cpp.

void DynamixelNcGripperDriverNode::tool_open_actionGetFeedbackCallback ( iri_common_drivers_msgs::tool_openFeedbackPtr & feedback ) [private]

Definition at line 138 of file dynamixel_nc_gripper_driver_node.cpp.

void DynamixelNcGripperDriverNode::tool_open_actionGetResultCallback ( iri_common_drivers_msgs::tool_openResultPtr & result ) [private]

Definition at line 130 of file dynamixel_nc_gripper_driver_node.cpp.

bool DynamixelNcGripperDriverNode::tool_open_actionHasSucceedCallback ( void ) [private]

Definition at line 118 of file dynamixel_nc_gripper_driver_node.cpp.

bool DynamixelNcGripperDriverNode::tool_open_actionIsFinishedCallback ( void ) [private]

Definition at line 102 of file dynamixel_nc_gripper_driver_node.cpp.

void DynamixelNcGripperDriverNode::tool_open_actionStartCallback ( const iri_common_drivers_msgs::tool_openGoalConstPtr & goal ) [private]

Definition at line 67 of file dynamixel_nc_gripper_driver_node.cpp.

void DynamixelNcGripperDriverNode::tool_open_actionStopCallback ( void ) [private]

Definition at line 89 of file dynamixel_nc_gripper_driver_node.cpp.

Member Data Documentation

bool DynamixelNcGripperDriverNode::is_closed_ [private]

Definition at line 61 of file dynamixel_nc_gripper_driver_node.h.

bool DynamixelNcGripperDriverNode::is_opened_ [private]

Definition at line 60 of file dynamixel_nc_gripper_driver_node.h.

IriActionServer<iri_common_drivers_msgs::tool_closeAction> DynamixelNcGripperDriverNode::tool_close_action_aserver_ [private]

Definition at line 79 of file dynamixel_nc_gripper_driver_node.h.

IriActionServer<iri_common_drivers_msgs::tool_openAction> DynamixelNcGripperDriverNode::tool_open_action_aserver_ [private]

Definition at line 72 of file dynamixel_nc_gripper_driver_node.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation