This program remaps the force information contained in /joint_states coming from the hand to the /cybergraspforces topic used to control the cybergrasp. More...
#include <shadowhand_to_cybergrasp_remapper.h>
Public Member Functions | |
ShadowhandToCybergraspRemapper () | |
~ShadowhandToCybergraspRemapper () | |
Private Member Functions | |
void | jointstatesCallback (const sensor_msgs::JointStateConstPtr &msg) |
Private Attributes | |
CalibrationParser * | calibration_parser |
the calibration parser containing the mapping matrix | |
NodeHandle | n_tilde |
NodeHandle | node |
ROS node handles. | |
Publisher | shadowhand_cybergrasp_pub |
publish to the cybergrasp /cybergraspforces topic | |
Subscriber | shadowhand_jointstates_sub |
subscribe to the shadowhand sendupdate topic |
This program remaps the force information contained in /joint_states coming from the hand to the /cybergraspforces topic used to control the cybergrasp.
Definition at line 48 of file shadowhand_to_cybergrasp_remapper.h.
shadowhand_to_cybergrasp_remapper::ShadowhandToCybergraspRemapper::ShadowhandToCybergraspRemapper | ( | ) |
Init the publisher / subscriber, the joint names, read the calibratin matrix
Definition at line 45 of file shadowhand_to_cybergrasp_remapper.cpp.
shadowhand_to_cybergrasp_remapper::ShadowhandToCybergraspRemapper::~ShadowhandToCybergraspRemapper | ( | ) |
Definition at line 75 of file shadowhand_to_cybergrasp_remapper.cpp.
void shadowhand_to_cybergrasp_remapper::ShadowhandToCybergraspRemapper::jointstatesCallback | ( | const sensor_msgs::JointStateConstPtr & | msg | ) | [private] |
process the joint_states callback: receives the message from the shadowhand node, remap it to the Cybergrasp and publish this message on a given topic
msg | the joint_states message |
process the joint_states callback: get the force data from the finger tips and stream it to the cybergrasp
msg | the joint_states message |
Definition at line 87 of file shadowhand_to_cybergrasp_remapper.cpp.
CalibrationParser* shadowhand_to_cybergrasp_remapper::ShadowhandToCybergraspRemapper::calibration_parser [private] |
the calibration parser containing the mapping matrix
Definition at line 66 of file shadowhand_to_cybergrasp_remapper.h.
Definition at line 59 of file shadowhand_to_cybergrasp_remapper.h.
ROS node handles.
Definition at line 59 of file shadowhand_to_cybergrasp_remapper.h.
Publisher shadowhand_to_cybergrasp_remapper::ShadowhandToCybergraspRemapper::shadowhand_cybergrasp_pub [private] |
publish to the cybergrasp /cybergraspforces topic
Definition at line 64 of file shadowhand_to_cybergrasp_remapper.h.
Subscriber shadowhand_to_cybergrasp_remapper::ShadowhandToCybergraspRemapper::shadowhand_jointstates_sub [private] |
subscribe to the shadowhand sendupdate topic
Definition at line 62 of file shadowhand_to_cybergrasp_remapper.h.