jaco::JacoArm Class Reference

#include <jaco_arm.h>

List of all members.

Public Member Functions
void	BroadCastAngles (void)
	Publishes the current joint angles.
void	BroadCastFingerPosition (void)
	Publishes the current finger positions.
void	BroadCastPosition (void)
	Publishes the current cartesian coordinates.
void	CalculatePostion (void)
void	CartesianVelocityMSG (const geometry_msgs::TwistStampedConstPtr &)
void	CartesianVelTimer (const ros::TimerEvent &)
void	GoHome (void)
	Contains coordinates for an alternate "Home" position.
bool	HomeArmSRV (jaco_driver::HomeArm::Request &req, jaco_driver::HomeArm::Response &res)
	JacoArm (JacoComm &, ros::NodeHandle &)
void	JointVelTimer (const ros::TimerEvent &)
void	PositionTimer (const ros::TimerEvent &)
bool	StartSRV (jaco_driver::Start::Request &req, jaco_driver::Start::Response &res)
	Handler for "start" service.
void	StatusTimer (const ros::TimerEvent &)
bool	StopSRV (jaco_driver::Stop::Request &req, jaco_driver::Stop::Response &res)
	Handler for "stop" service.
void	VelocityMSG (const jaco_driver::JointVelocityConstPtr &)
	~JacoArm ()
Private Attributes
JacoComm &	arm
ros::Timer	cartesian_vel_timer
bool	cartesian_vel_timer_flag
CartesianInfo	cartesian_velocities
ros::Subscriber	CartesianVelocity_sub
ros::Publisher	FingerPosition_pub
ros::ServiceServer	homing_service
ros::Timer	joint_vel_timer
bool	joint_vel_timer_flag
AngularInfo	joint_velocities
ros::Publisher	JointAngles_pub
ros::Publisher	JointState_pub
ros::Subscriber	JointVelocity_sub
ros::Time	last_cartesian_update
ros::Time	last_joint_update
ros::Time	last_update_time
tf::TransformListener	listener
uint8_t	previous_state
ros::Subscriber	SoftwarePause_sub
ros::ServiceServer	start_service
ros::Timer	status_timer
ros::ServiceServer	stop_service
ros::Publisher	ToolPosition_pub
ros::Duration	update_time

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Detailed Description

Definition at line 38 of file jaco_arm.h.

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Constructor & Destructor Documentation

jaco::JacoArm::JacoArm	(	JacoComm &	arm_comm,
		ros::NodeHandle &	nh
	)

Definition at line 14 of file jaco_arm.cpp.

jaco::JacoArm::~JacoArm

(

)

Definition at line 87 of file jaco_arm.cpp.

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Member Function Documentation

void jaco::JacoArm::BroadCastAngles

(

void

)

Publishes the current joint angles.

Joint angles are published in both their raw state as obtained from the arm (JointAngles), and transformed & converted to radians (joint_state) as per the Jaco Kinematics PDF.

JointState will eventually also publish the velocity and effort for each joint, when this data is made available by the C++ API. Currenty velocity and effort are reported as being zero (0.0) for all joints.

Definition at line 227 of file jaco_arm.cpp.

void jaco::JacoArm::BroadCastFingerPosition

(

void

)

Publishes the current finger positions.

Definition at line 285 of file jaco_arm.cpp.

void jaco::JacoArm::BroadCastPosition

(

void

)

Publishes the current cartesian coordinates.

Definition at line 271 of file jaco_arm.cpp.

void jaco::JacoArm::CalculatePostion

(

void

)

void jaco::JacoArm::CartesianVelocityMSG

(

const geometry_msgs::TwistStampedConstPtr &

cartesian_vel

)

Definition at line 149 of file jaco_arm.cpp.

void jaco::JacoArm::CartesianVelTimer

(

const ros::TimerEvent &

)

Definition at line 170 of file jaco_arm.cpp.

void jaco::JacoArm::GoHome

(

void

)

Contains coordinates for an alternate "Home" position.

GoHome() function must be enabled in the initialization routine for this to work.

Definition at line 198 of file jaco_arm.cpp.

bool jaco::JacoArm::HomeArmSRV	(	jaco_driver::HomeArm::Request &	req,
		jaco_driver::HomeArm::Response &	res
	)

Definition at line 91 of file jaco_arm.cpp.

void jaco::JacoArm::JointVelTimer

(

const ros::TimerEvent &

)

Definition at line 181 of file jaco_arm.cpp.

void jaco::JacoArm::PositionTimer

(

const ros::TimerEvent &

)

bool jaco::JacoArm::StartSRV	(	jaco_driver::Start::Request &	req,
		jaco_driver::Start::Response &	res
	)

Handler for "start" service.

Re-enables control of the arm after a stop.

Definition at line 139 of file jaco_arm.cpp.

void jaco::JacoArm::StatusTimer

(

const ros::TimerEvent &

)

Definition at line 298 of file jaco_arm.cpp.

bool jaco::JacoArm::StopSRV	(	jaco_driver::Stop::Request &	req,
		jaco_driver::Stop::Response &	res
	)

Handler for "stop" service.

Instantly stops the arm and prevents further movement until start service is invoked.

Definition at line 125 of file jaco_arm.cpp.

void jaco::JacoArm::VelocityMSG

(

const jaco_driver::JointVelocityConstPtr &

joint_vel

)

Definition at line 99 of file jaco_arm.cpp.

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Member Data Documentation

JacoComm& jaco::JacoArm::arm [private]

Definition at line 62 of file jaco_arm.h.

ros::Timer jaco::JacoArm::cartesian_vel_timer [private]

Definition at line 81 of file jaco_arm.h.

bool jaco::JacoArm::cartesian_vel_timer_flag [private]

Definition at line 83 of file jaco_arm.h.

CartesianInfo jaco::JacoArm::cartesian_velocities [private]

Definition at line 87 of file jaco_arm.h.

ros::Subscriber jaco::JacoArm::CartesianVelocity_sub [private]

Definition at line 66 of file jaco_arm.h.

ros::Publisher jaco::JacoArm::FingerPosition_pub [private]

Definition at line 72 of file jaco_arm.h.

ros::ServiceServer jaco::JacoArm::homing_service [private]

Definition at line 78 of file jaco_arm.h.

ros::Timer jaco::JacoArm::joint_vel_timer [private]

Definition at line 82 of file jaco_arm.h.

bool jaco::JacoArm::joint_vel_timer_flag [private]

Definition at line 84 of file jaco_arm.h.

AngularInfo jaco::JacoArm::joint_velocities [private]

Definition at line 86 of file jaco_arm.h.

ros::Publisher jaco::JacoArm::JointAngles_pub [private]

Definition at line 70 of file jaco_arm.h.

ros::Publisher jaco::JacoArm::JointState_pub [private]

Definition at line 73 of file jaco_arm.h.

ros::Subscriber jaco::JacoArm::JointVelocity_sub [private]

Definition at line 65 of file jaco_arm.h.

ros::Time jaco::JacoArm::last_cartesian_update [private]

Definition at line 90 of file jaco_arm.h.

ros::Time jaco::JacoArm::last_joint_update [private]

Definition at line 89 of file jaco_arm.h.

ros::Time jaco::JacoArm::last_update_time [private]

Definition at line 94 of file jaco_arm.h.

tf::TransformListener jaco::JacoArm::listener [private]

Definition at line 92 of file jaco_arm.h.

uint8_t jaco::JacoArm::previous_state [private]

Definition at line 96 of file jaco_arm.h.

ros::Subscriber jaco::JacoArm::SoftwarePause_sub [private]

Definition at line 67 of file jaco_arm.h.

ros::ServiceServer jaco::JacoArm::start_service [private]

Definition at line 77 of file jaco_arm.h.

ros::Timer jaco::JacoArm::status_timer [private]

Definition at line 80 of file jaco_arm.h.

ros::ServiceServer jaco::JacoArm::stop_service [private]

Definition at line 76 of file jaco_arm.h.

ros::Publisher jaco::JacoArm::ToolPosition_pub [private]

Definition at line 71 of file jaco_arm.h.

ros::Duration jaco::JacoArm::update_time [private]

Definition at line 95 of file jaco_arm.h.

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

• jaco_arm.h
• jaco_arm.cpp