netft_ethercat_hardware::NetFT Class Reference

NetFT driver plugin for ethercat_hardware. More...

#include <netft.h>

Inheritance diagram for netft_ethercat_hardware::NetFT:

List of all members.

Public Member Functions
void	collectDiagnostics (EthercatCom *com)
void	construct (ros::NodeHandle &nh)
void	diagnostics (diagnostic_updater::DiagnosticStatusWrapper &d, unsigned char *)
int	initialize (pr2_hardware_interface::HardwareInterface *, bool)
	NetFT ()
bool	unpackState (unsigned char *this_buffer, unsigned char *prev_buffer)
	~NetFT ()
Protected Member Functions
bool	tryPublish (const geometry_msgs::WrenchStamped &data)
bool	tryPublishOld (const geometry_msgs::WrenchStamped &data)
Protected Attributes
pr2_hardware_interface::AnalogIn	analog_in_
	AnalogIn struct where device will put data for realtime controllers.
pr2_hardware_interface::HardwareInterface *	hw_
ros::Time	last_publish_time_
	Last time NetFT data was published to ROS topic. Used to limit publishing rate.
netft_rdt_driver::NetFTRDTDriver *	netft_driver_
	Driver interface to NetFT device.
ros::NodeHandle	nh_
	NodeHandle to use when getting necessary parameters and publishing.
realtime_tools::RealtimePublisher < geometry_msgs::WrenchStamped > *	pub_
	Publish NetFT data to.
realtime_tools::RealtimePublisher < geometry_msgs::Wrench > *	pub_old_
	Wrench message type is deprecated.
ros::Duration	publish_period_
bool	should_publish_

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Detailed Description

NetFT driver plugin for ethercat_hardware.

Author:

Derek King NetFT is analog converter for Force/Torque sensors from ATI IA. http://www.ati-ia.com/products/ft/ft_NetFT.aspx

This driver allows data published by NetFT over UDP to be available to realtime controllers as analog inputs. This driver also publishes data to ROS topic.

ROS interface

Parameters:

address	IPV4 address for NetFT box. Example "192.168.1.1".
ros_publish_period	Period in seconds that plugin will publish force/torqe data to ROS topic
analog_in_name	Name to use when registering AnalogIn that contains force/torque data

Definition at line 65 of file netft.h.

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Constructor & Destructor Documentation

netft_ethercat_hardware::NetFT::NetFT

(

)

Definition at line 51 of file netft.cpp.

netft_ethercat_hardware::NetFT::~NetFT

(

)

Definition at line 60 of file netft.cpp.

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Member Function Documentation

void netft_ethercat_hardware::NetFT::collectDiagnostics

(

EthercatCom *

com

)

[virtual]

Reimplemented from EthercatDevice.

Definition at line 208 of file netft.cpp.

void netft_ethercat_hardware::NetFT::construct

(

ros::NodeHandle &

nh

)

[virtual]

Reimplemented from EthercatDevice.

Definition at line 67 of file netft.cpp.

void netft_ethercat_hardware::NetFT::diagnostics	(	diagnostic_updater::DiagnosticStatusWrapper &	d,
		unsigned char *
	)		[virtual]

Reimplemented from EthercatDevice.

Definition at line 213 of file netft.cpp.

int netft_ethercat_hardware::NetFT::initialize	(	pr2_hardware_interface::HardwareInterface *	hw,
		bool
	)		[virtual]

Implements EthercatDevice.

Definition at line 72 of file netft.cpp.

bool netft_ethercat_hardware::NetFT::tryPublish

(

const geometry_msgs::WrenchStamped &

data

)

[protected]

Definition at line 173 of file netft.cpp.

bool netft_ethercat_hardware::NetFT::tryPublishOld

(

const geometry_msgs::WrenchStamped &

data

)

[protected]

Definition at line 190 of file netft.cpp.

bool netft_ethercat_hardware::NetFT::unpackState	(	unsigned char *	this_buffer,
		unsigned char *	prev_buffer
	)		[virtual]

Reimplemented from EthercatDevice.

Definition at line 141 of file netft.cpp.

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Member Data Documentation

pr2_hardware_interface::AnalogIn netft_ethercat_hardware::NetFT::analog_in_ [protected]

AnalogIn struct where device will put data for realtime controllers.

Definition at line 87 of file netft.h.

pr2_hardware_interface::HardwareInterface* netft_ethercat_hardware::NetFT::hw_ [protected]

Definition at line 78 of file netft.h.

ros::Time netft_ethercat_hardware::NetFT::last_publish_time_ [protected]

Last time NetFT data was published to ROS topic. Used to limit publishing rate.

Definition at line 94 of file netft.h.

netft_rdt_driver::NetFTRDTDriver* netft_ethercat_hardware::NetFT::netft_driver_ [protected]

Driver interface to NetFT device.

Definition at line 84 of file netft.h.

ros::NodeHandle netft_ethercat_hardware::NetFT::nh_ [protected]

NodeHandle to use when getting necessary parameters and publishing.

Definition at line 81 of file netft.h.

realtime_tools::RealtimePublisher<geometry_msgs::WrenchStamped>* netft_ethercat_hardware::NetFT::pub_ [protected]

Publish NetFT data to.

Definition at line 90 of file netft.h.

realtime_tools::RealtimePublisher<geometry_msgs::Wrench>* netft_ethercat_hardware::NetFT::pub_old_ [protected]

Wrench message type is deprecated.

Definition at line 91 of file netft.h.

ros::Duration netft_ethercat_hardware::NetFT::publish_period_ [protected]

Definition at line 95 of file netft.h.

bool netft_ethercat_hardware::NetFT::should_publish_ [protected]

Definition at line 96 of file netft.h.

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

• netft.h
• netft.cpp