Classes | Enumerations | Functions | Variables
corobot_arm.cpp File Reference
#include "ros/ros.h"
#include <stdio.h>
#include <math.h>
#include "std_msgs/Float64.h"
#include "corobot_msgs/MoveArm.h"
#include "corobot_msgs/ServoPosition.h"
#include "corobot_msgs/ServoType.h"
Include dependency graph for corobot_arm.cpp:

Go to the source code of this file.

Classes

struct  servo

Enumerations

enum  hardware_controller { arbotix, ssc32, phidget }
enum  servo_type {
  base_rotation, shoulder, elbow, wrist_flex,
  wrist_rotation, gripper
}

Functions

void init_servos_db (XmlRpc::XmlRpcValue dynamixels, ros::NodeHandle n)
 initialise the list of servos (variable servos) and the number of servos connected. It reads this from the yaml file.
int main (int argc, char **argv)
void setServoPosition (const corobot_msgs::MoveArm &msg)
 Topic to move the arm of the Corobot.

Variables

ros::Publisherarbotix_publisher = NULL
double centerOffset = 0.0
hardware_controller controller
int number_servo = 0
ros::Publisher position_pub
servoservos = NULL
ros::Publisher type_pub

Enumeration Type Documentation

Enumerator:
arbotix 
ssc32 
phidget 

Definition at line 61 of file corobot_arm.cpp.

enum servo_type

This node is used to control an arm on your corobot robot. It subscribes to a topic armPosition of type corobot_msgs/MoveArm. Then, it sends the necessary messages to the necessary node that interfaces with the hardware. This was necessary as many arms are available for the corobot, and the nodes interfacing the different hardware are made by different people and have different interfaces

Enumerator:
base_rotation 
shoulder 
elbow 
wrist_flex 
wrist_rotation 
gripper 

Definition at line 50 of file corobot_arm.cpp.


Function Documentation

void init_servos_db ( XmlRpc::XmlRpcValue  dynamixels,
ros::NodeHandle  n 
)

initialise the list of servos (variable servos) and the number of servos connected. It reads this from the yaml file.

Definition at line 149 of file corobot_arm.cpp.

int main ( int  argc,
char **  argv 
)

Definition at line 257 of file corobot_arm.cpp.

void setServoPosition ( const corobot_msgs::MoveArm &  msg)

Topic to move the arm of the Corobot.

Definition at line 99 of file corobot_arm.cpp.


Variable Documentation

Definition at line 93 of file corobot_arm.cpp.

double centerOffset = 0.0

Definition at line 81 of file corobot_arm.cpp.

Definition at line 90 of file corobot_arm.cpp.

int number_servo = 0

Definition at line 87 of file corobot_arm.cpp.

Definition at line 78 of file corobot_arm.cpp.

servo* servos = NULL

Definition at line 84 of file corobot_arm.cpp.

Definition at line 78 of file corobot_arm.cpp.



corobot_arm
Author(s):
autogenerated on Sun Oct 5 2014 23:18:08