Classes | Typedefs | Functions | Variables
canopen_ros.cpp File Reference

Implementation of canopen. More...

#include "ros/ros.h"
#include <urdf/model.h>
#include "std_msgs/String.h"
#include "sensor_msgs/JointState.h"
#include "control_msgs/JointTrajectoryControllerState.h"
#include "brics_actuator/JointVelocities.h"
#include "cob_srvs/Trigger.h"
#include "cob_srvs/SetOperationMode.h"
#include <diagnostic_msgs/DiagnosticArray.h>
#include <iostream>
#include <map>
#include <boost/bind.hpp>
#include <boost/filesystem.hpp>
#include <ipa_canopen_core/canopen.h>
#include <XmlRpcValue.h>
#include <ipa_canopen_ros/JointLimits.h>
Include dependency graph for canopen_ros.cpp:

Go to the source code of this file.

Classes

struct  BusParams

Typedefs

typedef boost::function< void(const
brics_actuator::JointVelocities &)> 
JointVelocitiesType
typedef boost::function< bool(cob_srvs::SetOperationMode::Request
&, cob_srvs::SetOperationMode::Response &)> 
SetOperationModeCallbackType
typedef boost::function< bool(cob_srvs::Trigger::Request
&, cob_srvs::Trigger::Response &)> 
TriggerType

Functions

bool CANOpenHalt (cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res, std::string chainName)
bool CANopenInit (cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res, std::string chainName)
bool CANopenRecover (cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res, std::string chainName)
int main (int argc, char **argv)
void readParamsFromParameterServer (ros::NodeHandle n)
void setJointConstraints (ros::NodeHandle n)
bool setOperationModeCallback (cob_srvs::SetOperationMode::Request &req, cob_srvs::SetOperationMode::Response &res, std::string chainName)
void setVel (const brics_actuator::JointVelocities &msg, std::string chainName)

Variables

std::map< std::string, BusParamsbuses
std::vector< std::string > chainNames
std::string deviceFile
JointLimitsjoint_limits_
std::vector< std::string > jointNames

Detailed Description

Implementation of canopen.

Note:
Copyright (c) 2013
Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)

Project name: ipa_canopen
ROS stack name: ipa_canopen
ROS package name: ipa_canopen_ros
Author:
Author: Thiago de Freitas, Tobias Sing, Eduard Herkel
Supervised by: Thiago de Freitas email:tdf@ipa.fhg.de
Date:
Date of creation: December 2012

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License LGPL as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License LGPL for more details.

You should have received a copy of the GNU Lesser General Public License LGPL along with this program. If not, see <http://www.gnu.org/licenses/>.

Definition in file canopen_ros.cpp.


Typedef Documentation

typedef boost::function<void(const brics_actuator::JointVelocities&)> JointVelocitiesType

Definition at line 78 of file canopen_ros.cpp.

Definition at line 79 of file canopen_ros.cpp.

Definition at line 77 of file canopen_ros.cpp.


Function Documentation

bool CANOpenHalt ( cob_srvs::Trigger::Request req,
cob_srvs::Trigger::Response res,
std::string  chainName 
)

Definition at line 184 of file canopen_ros.cpp.

bool CANopenInit ( cob_srvs::Trigger::Request req,
cob_srvs::Trigger::Response res,
std::string  chainName 
)

Definition at line 95 of file canopen_ros.cpp.

bool CANopenRecover ( cob_srvs::Trigger::Request req,
cob_srvs::Trigger::Response res,
std::string  chainName 
)

Definition at line 142 of file canopen_ros.cpp.

int main ( int  argc,
char **  argv 
)

Definition at line 457 of file canopen_ros.cpp.

Definition at line 234 of file canopen_ros.cpp.

Get robot_description from ROS parameter server

Get urdf model out of robot_description

Get max velocities out of urdf model

Get lower limits out of urdf model

Get offsets out of urdf model

Set parameters

Definition at line 340 of file canopen_ros.cpp.

Definition at line 198 of file canopen_ros.cpp.

void setVel ( const brics_actuator::JointVelocities msg,
std::string  chainName 
)

Definition at line 204 of file canopen_ros.cpp.


Variable Documentation

std::map<std::string, BusParams> buses

Definition at line 87 of file canopen_ros.cpp.

std::vector<std::string> chainNames

Definition at line 92 of file canopen_ros.cpp.

std::string deviceFile

Definition at line 89 of file canopen_ros.cpp.

Definition at line 91 of file canopen_ros.cpp.

std::vector<std::string> jointNames

Definition at line 93 of file canopen_ros.cpp.



ipa_canopen_ros
Author(s): Tobias Sing, Thiago de Freitas
autogenerated on Mon Oct 6 2014 00:59:31