RosEthercat Class Reference

#include <ros_ethercat.hpp>

Inheritance diagram for RosEthercat:

List of all members.

Public Member Functions
void	read ()
	propagate position actuator -> joint and set commands to zero
	RosEthercat (ros::NodeHandle &nh, const string &eth, bool allow, TiXmlElement *config)
void	shutdown ()
	stop all actuators
void	write ()
	propagate effort joint -> actuator and enforce safety limits
virtual	~RosEthercat ()
Public Attributes
ros::NodeHandle	cm_node_
EthercatHardware	ec_
hardware_interface::EffortJointInterface	effort_joint_interface_
hardware_interface::JointCommandInterface	joint_command_interface_
hardware_interface::JointStateInterface	joint_state_interface_
boost::scoped_ptr < MechStatsPublisher >	mech_stats_publisher_
ros_ethercat_model::RobotState	model_
hardware_interface::PositionJointInterface	position_joint_interface_

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Detailed Description

Definition at line 80 of file ros_ethercat.hpp.

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Constructor & Destructor Documentation

RosEthercat::RosEthercat	(	ros::NodeHandle &	nh,
		const string &	eth,
		bool	allow,
		TiXmlElement *	config
	)		[inline]

Definition at line 83 of file ros_ethercat.hpp.

virtual RosEthercat::~RosEthercat

(

)

[inline, virtual]

Definition at line 114 of file ros_ethercat.hpp.

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Member Function Documentation

void RosEthercat::read

(

)

[inline]

propagate position actuator -> joint and set commands to zero

Definition at line 119 of file ros_ethercat.hpp.

void RosEthercat::shutdown

(

)

[inline]

stop all actuators

Definition at line 152 of file ros_ethercat.hpp.

void RosEthercat::write

(

)

[inline]

propagate effort joint -> actuator and enforce safety limits

Modify the commanded_effort_ of each joint state so that the joint limits are satisfied

Definition at line 136 of file ros_ethercat.hpp.

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Member Data Documentation

ros::NodeHandle RosEthercat::cm_node_

Definition at line 163 of file ros_ethercat.hpp.

EthercatHardware RosEthercat::ec_

Definition at line 165 of file ros_ethercat.hpp.

hardware_interface::EffortJointInterface RosEthercat::effort_joint_interface_

Definition at line 170 of file ros_ethercat.hpp.

hardware_interface::JointCommandInterface RosEthercat::joint_command_interface_

Definition at line 169 of file ros_ethercat.hpp.

hardware_interface::JointStateInterface RosEthercat::joint_state_interface_

Definition at line 168 of file ros_ethercat.hpp.

boost::scoped_ptr<MechStatsPublisher> RosEthercat::mech_stats_publisher_

Definition at line 166 of file ros_ethercat.hpp.

ros_ethercat_model::RobotState RosEthercat::model_

Definition at line 164 of file ros_ethercat.hpp.

hardware_interface::PositionJointInterface RosEthercat::position_joint_interface_

Definition at line 171 of file ros_ethercat.hpp.

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

• ros_ethercat.hpp