schunk_powercube_chain.cpp File Reference

Implementation of ROS node for powercube_chain. More...

#include <ros/ros.h>
#include <urdf/model.h>
#include <sensor_msgs/JointState.h>
#include <trajectory_msgs/JointTrajectory.h>
#include <control_msgs/JointTrajectoryControllerState.h>
#include <diagnostic_msgs/DiagnosticArray.h>
#include <brics_actuator/JointPositions.h>
#include <brics_actuator/JointVelocities.h>
#include <cob_srvs/Trigger.h>
#include <cob_srvs/SetOperationMode.h>
#include <schunk_powercube_chain/PowerCubeCtrl.h>
#include <schunk_powercube_chain/PowerCubeCtrlParams.h>

Include dependency graph for schunk_powercube_chain.cpp:

Go to the source code of this file.

Classes
class	PowerCubeChainNode
	Implementation of ROS node for powercube_chain. More...
Functions
int	main (int argc, char **argv)
	Main loop of ROS node.

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Detailed Description

Implementation of ROS node for powercube_chain.

Note:

Copyright (c) 2010
Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)

Project name: schunk_modular_robotics

ROS stack name: schunk_modular_robotics

ROS package name: schunk_powercube_chain

Author:

Author: Florian Weisshardt, email:florian.weisshardt@ipa.fhg.de

Supervised by: Florian Weisshardt, email:florian.weisshardt@ipa.fhg.de

Date:

Date of creation: Dec 2010

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

• Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
  
• Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
  
• Neither the name of the Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
  

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 schunk_powercube_chain.cpp.

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Function Documentation

int main	(	int	argc,
		char **	argv
	)

Main loop of ROS node.

Running with a specific frequency defined by loop_rate.

initialize ROS, specify name of node

get main loop parameters

main loop

sleep and waiting for messages, callbacks

Definition at line 705 of file schunk_powercube_chain.cpp.