youbot_teleop_arm.cpp File Reference

#include <iostream>
#include <assert.h>
#include "ros/ros.h"
#include "trajectory_msgs/JointTrajectory.h"
#include "brics_actuator/CartesianWrench.h"
#include <boost/units/io.hpp>
#include <boost/units/systems/angle/degrees.hpp>
#include <boost/units/conversion.hpp>
#include <math.h>
#include "brics_actuator/JointPositions.h"
#include "sensor_msgs/JointState.h"
#include <boost/units/systems/si/length.hpp>
#include <boost/units/systems/si/plane_angle.hpp>
#include <stdio.h>
#include <unistd.h>
#include <termios.h>
#include "std_msgs/String.h"

Include dependency graph for youbot_teleop_arm.cpp:

Go to the source code of this file.

Functions
char	getch (void)
int	main (int argc, char **argv)
void	position_listener (const sensor_msgs::JointState::ConstPtr &msg)
Variables
double	gripperDelta = (gripperMax - gripperMin) * 0.02
double	gripperl = 0
double	gripperMax = 0.0115
double	gripperMin = 0
double	gripperr = 0
double	joint [5]
double	jointCamera [] = {3.0,0.5,-0.9,0.1,3.0}
double	jointDelta [5]
double	jointGrasp [] = {3.04171,2.04427,-1.5189129,2.5434289757,2.8761944}
double	jointHome [] = {0.01007,0.01007,-0.15709,0.02214,0.1107}
double	jointInitialize [] = {0.01007,.635971,-1.91989,1.04424,2.87619}
double	jointMax [] = {5.840139, 2.617989, -0.0157081, 3.42919, 5.641589}
double	jointMin [] = {0.01006921, 0.01006921, -5.0264, 0.0221391, 0.11062}
double	jointObject [] = {3.04171,0.63597,-1.017845,0.36284,2.876194}
double	lastJoint [5]

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Function Documentation

char getch

(

void

)

Definition at line 131 of file youbot_teleop_arm.cpp.

int main	(	int	argc,
		char **	argv
	)

Creates and runs the youbot_joy_teleop node.

Parameters:

argc	argument count that is passed to ros::init
argv	arguments that are passed to ros::init

Returns:

EXIT_SUCCESS if the node runs correctly

Definition at line 145 of file youbot_teleop_arm.cpp.

void position_listener

(

const sensor_msgs::JointState::ConstPtr &

msg

)

Definition at line 116 of file youbot_teleop_arm.cpp.

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Variable Documentation

double gripperDelta = (gripperMax - gripperMin) * 0.02

Definition at line 81 of file youbot_teleop_arm.cpp.

double gripperl = 0

Definition at line 73 of file youbot_teleop_arm.cpp.

double gripperMax = 0.0115

Definition at line 77 of file youbot_teleop_arm.cpp.

double gripperMin = 0

Definition at line 78 of file youbot_teleop_arm.cpp.

double gripperr = 0

Definition at line 72 of file youbot_teleop_arm.cpp.

double joint[5]

Definition at line 70 of file youbot_teleop_arm.cpp.

double jointCamera[] = {3.0,0.5,-0.9,0.1,3.0}

Definition at line 84 of file youbot_teleop_arm.cpp.

double jointDelta[5]

Definition at line 80 of file youbot_teleop_arm.cpp.

double jointGrasp[] = {3.04171,2.04427,-1.5189129,2.5434289757,2.8761944}

Definition at line 86 of file youbot_teleop_arm.cpp.

double jointHome[] = {0.01007,0.01007,-0.15709,0.02214,0.1107}

Definition at line 83 of file youbot_teleop_arm.cpp.

double jointInitialize[] = {0.01007,.635971,-1.91989,1.04424,2.87619}

Definition at line 87 of file youbot_teleop_arm.cpp.

double jointMax[] = {5.840139, 2.617989, -0.0157081, 3.42919, 5.641589}

Definition at line 75 of file youbot_teleop_arm.cpp.

double jointMin[] = {0.01006921, 0.01006921, -5.0264, 0.0221391, 0.11062}

Definition at line 76 of file youbot_teleop_arm.cpp.

double jointObject[] = {3.04171,0.63597,-1.017845,0.36284,2.876194}

Definition at line 85 of file youbot_teleop_arm.cpp.

double lastJoint[5]

Definition at line 71 of file youbot_teleop_arm.cpp.