SdhNode Class Reference

Implementation of ROS node for sdh. More...

List of all members.

Public Member Functions
void	executeCB (const control_msgs::FollowJointTrajectoryGoalConstPtr &goal)
	Executes the callback from the actionlib.
void	executeCB (const control_msgs::FollowJointTrajectoryGoalConstPtr &goal)
	Executes the callback from the actionlib.
bool	init ()
	Initializes node to get parameters, subscribe and publish to topics.
bool	init ()
	Initializes node to get parameters, subscribe and publish to topics.
bool	parseDegFromJointValue (const brics_actuator::JointValue &val, double &deg_val)
bool	parseDegFromJointValue (const brics_actuator::JointValue &val, double &deg_val)
	SdhNode (std::string name)
	Constructor for SdhNode class.
	SdhNode (std::string name)
	Constructor for SdhNode class.
bool	srvCallback_Init (cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res)
	Executes the service callback for init.
bool	srvCallback_Init (cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res)
	Executes the service callback for init.
bool	srvCallback_Recover (cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res)
	Executes the service callback for recover.
bool	srvCallback_Recover (cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res)
	Executes the service callback for recover.
bool	srvCallback_SetOperationMode (cob_srvs::SetOperationMode::Request &req, cob_srvs::SetOperationMode::Response &res)
	Executes the service callback for set_operation_mode.
bool	srvCallback_SetOperationMode (cob_srvs::SetOperationMode::Request &req, cob_srvs::SetOperationMode::Response &res)
	Executes the service callback for set_operation_mode.
bool	srvCallback_Stop (cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res)
	Executes the service callback for stop.
bool	srvCallback_Stop (cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res)
	Executes the service callback for stop.
void	topicCallback_setVelocities (const brics_actuator::JointVelocities::ConstPtr &msg)
void	topicCallback_setVelocities (const brics_actuator::JointVelocities::ConstPtr &msg)
void	topicCallback_setVelocitiesRaw (const std_msgs::Float32MultiArrayPtr &velocities)
void	topicCallback_setVelocitiesRaw (const std_msgs::Float32MultiArrayPtr &velocities)
void	updateDsa ()
	Main routine to update dsa.
void	updateSdh ()
	Main routine to update sdh.
void	updateSdh ()
	Main routine to update sdh.
	~SdhNode ()
	Destructor for SdhNode class.
	~SdhNode ()
	Destructor for SdhNode class.
Public Attributes
ros::NodeHandle	nh_
	create a handle for this node, initialize node
Private Attributes
std::string	action_name_
actionlib::SimpleActionServer < control_msgs::FollowJointTrajectoryAction >	as_
std::vector< int >	axes_
int	baudrate_
int	DOF_
SDH::cDSA *	dsa_
int	dsadevicenum_
std::string	dsadevicestring_
bool	hasNewGoal_
int	id_read_
int	id_write_
bool	isDSAInitialized_
bool	isError_
bool	isInitialized_
std::vector< std::string >	joint_names_
std::string	operationMode_
double	pi_
SDH::cSDH *	sdh_
int	sdhdevicenum_
std::string	sdhdevicestring_
std::string	sdhdevicetype_
ros::ServiceServer	srvServer_Init_
ros::ServiceServer	srvServer_Recover_
ros::ServiceServer	srvServer_SetOperationMode_
ros::ServiceServer	srvServer_Stop_
std::vector < SDH::cSDH::eAxisState >	state_
ros::Subscriber	subSetVelocities_
ros::Subscriber	subSetVelocitiesRaw_
std::vector< double >	targetAngles_
double	timeout_
ros::Publisher	topicPub_ControllerState_
ros::Publisher	topicPub_Diagnostics_
ros::Publisher	topicPub_JointState_
ros::Publisher	topicPub_TactileSensor_
trajectory_msgs::JointTrajectory	traj_
std::vector< double >	velocities_

---

Detailed Description

Implementation of ROS node for sdh.

Offers actionlib and direct command interface.

Definition at line 98 of file sdh.cpp.

---

Constructor & Destructor Documentation

SdhNode::SdhNode

(

std::string

name

)

[inline]

Constructor for SdhNode class.

Parameters:

name	Name for the actionlib server

Definition at line 161 of file sdh.cpp.

SdhNode::~SdhNode

(

)

[inline]

Destructor for SdhNode class.

Definition at line 177 of file sdh.cpp.

SdhNode::SdhNode

(

std::string

name

)

[inline]

Constructor for SdhNode class.

Parameters:

name	Name for the actionlib server

Definition at line 153 of file sdh_only.cpp.

SdhNode::~SdhNode

(

)

[inline]

Destructor for SdhNode class.

Definition at line 169 of file sdh_only.cpp.

---

Member Function Documentation

void SdhNode::executeCB

(

const control_msgs::FollowJointTrajectoryGoalConstPtr &

goal

)

[inline]

Executes the callback from the actionlib.

Set the current goal to aborted after receiving a new goal and write new goal to a member variable. Wait for the goal to finish and set actionlib status to succeeded.

Parameters:

goal	JointTrajectoryGoal

Definition at line 254 of file sdh_only.cpp.

void SdhNode::executeCB

(

const control_msgs::FollowJointTrajectoryGoalConstPtr &

goal

)

[inline]

Executes the callback from the actionlib.

Set the current goal to aborted after receiving a new goal and write new goal to a member variable. Wait for the goal to finish and set actionlib status to succeeded.

Parameters:

goal	JointTrajectoryGoal

Definition at line 269 of file sdh.cpp.

bool SdhNode::init

(

)

[inline]

Initializes node to get parameters, subscribe and publish to topics.

Definition at line 180 of file sdh_only.cpp.

bool SdhNode::init

(

)

[inline]

Initializes node to get parameters, subscribe and publish to topics.

Definition at line 190 of file sdh.cpp.

bool SdhNode::parseDegFromJointValue	(	const brics_actuator::JointValue &	val,
		double &	deg_val
	)		[inline]

Definition at line 362 of file sdh_only.cpp.

bool SdhNode::parseDegFromJointValue	(	const brics_actuator::JointValue &	val,
		double &	deg_val
	)		[inline]

Definition at line 377 of file sdh.cpp.

bool SdhNode::srvCallback_Init	(	cob_srvs::Trigger::Request &	req,
		cob_srvs::Trigger::Response &	res
	)		[inline]

Executes the service callback for init.

Connects to the hardware and initialized it.

Parameters:

req	Service request
res	Service response

Definition at line 412 of file sdh_only.cpp.

bool SdhNode::srvCallback_Init	(	cob_srvs::Trigger::Request &	req,
		cob_srvs::Trigger::Response &	res
	)		[inline]

Executes the service callback for init.

Connects to the hardware and initialized it.

Parameters:

req	Service request
res	Service response

Definition at line 427 of file sdh.cpp.

bool SdhNode::srvCallback_Recover	(	cob_srvs::Trigger::Request &	req,
		cob_srvs::Trigger::Response &	res
	)		[inline]

Executes the service callback for recover.

Recovers the hardware after an emergency stop.

Parameters:

req	Service request
res	Service response

Definition at line 514 of file sdh_only.cpp.

bool SdhNode::srvCallback_Recover	(	cob_srvs::Trigger::Request &	req,
		cob_srvs::Trigger::Response &	res
	)		[inline]

Executes the service callback for recover.

Recovers the hardware after an emergency stop.

Parameters:

req	Service request
res	Service response

Definition at line 553 of file sdh.cpp.

bool SdhNode::srvCallback_SetOperationMode	(	cob_srvs::SetOperationMode::Request &	req,
		cob_srvs::SetOperationMode::Response &	res
	)		[inline]

Executes the service callback for set_operation_mode.

Changes the operation mode.

Parameters:

req	Service request
res	Service response

Definition at line 530 of file sdh_only.cpp.

bool SdhNode::srvCallback_SetOperationMode	(	cob_srvs::SetOperationMode::Request &	req,
		cob_srvs::SetOperationMode::Response &	res
	)		[inline]

Executes the service callback for set_operation_mode.

Changes the operation mode.

Parameters:

req	Service request
res	Service response

Definition at line 569 of file sdh.cpp.

bool SdhNode::srvCallback_Stop	(	cob_srvs::Trigger::Request &	req,
		cob_srvs::Trigger::Response &	res
	)		[inline]

Executes the service callback for stop.

Stops all hardware movements.

Parameters:

req	Service request
res	Service response

Definition at line 486 of file sdh_only.cpp.

bool SdhNode::srvCallback_Stop	(	cob_srvs::Trigger::Request &	req,
		cob_srvs::Trigger::Response &	res
	)		[inline]

Executes the service callback for stop.

Stops all hardware movements.

Parameters:

req	Service request
res	Service response

Definition at line 525 of file sdh.cpp.

void SdhNode::topicCallback_setVelocities

(

const brics_actuator::JointVelocities::ConstPtr &

msg

)

[inline]

Definition at line 374 of file sdh_only.cpp.

void SdhNode::topicCallback_setVelocities

(

const brics_actuator::JointVelocities::ConstPtr &

msg

)

[inline]

Definition at line 389 of file sdh.cpp.

void SdhNode::topicCallback_setVelocitiesRaw

(

const std_msgs::Float32MultiArrayPtr &

velocities

)

[inline]

Definition at line 332 of file sdh_only.cpp.

void SdhNode::topicCallback_setVelocitiesRaw

(

const std_msgs::Float32MultiArrayPtr &

velocities

)

[inline]

Definition at line 347 of file sdh.cpp.

void SdhNode::updateDsa

(

)

[inline]

Main routine to update dsa.

Reads out current values.

Definition at line 813 of file sdh.cpp.

void SdhNode::updateSdh

(

)

[inline]

Main routine to update sdh.

Sends target to hardware and reads out current configuration.

Definition at line 561 of file sdh_only.cpp.

void SdhNode::updateSdh

(

)

[inline]

Main routine to update sdh.

Sends target to hardware and reads out current configuration.

Definition at line 600 of file sdh.cpp.

---

Member Data Documentation

std::string SdhNode::action_name_ [private]

Definition at line 122 of file sdh.cpp.

actionlib::SimpleActionServer< control_msgs::FollowJointTrajectoryAction > SdhNode::as_ [private]

Definition at line 121 of file sdh.cpp.

std::vector< int > SdhNode::axes_ [private]

Definition at line 149 of file sdh.cpp.

int SdhNode::baudrate_ [private]

Definition at line 137 of file sdh.cpp.

int SdhNode::DOF_ [private]

Definition at line 143 of file sdh.cpp.

SDH::cDSA* SdhNode::dsa_ [private]

Definition at line 129 of file sdh.cpp.

int SdhNode::dsadevicenum_ [private]

Definition at line 136 of file sdh.cpp.

std::string SdhNode::dsadevicestring_ [private]

Definition at line 135 of file sdh.cpp.

bool SdhNode::hasNewGoal_ [private]

Definition at line 152 of file sdh.cpp.

int SdhNode::id_read_ [private]

Definition at line 137 of file sdh.cpp.

int SdhNode::id_write_ [private]

Definition at line 137 of file sdh.cpp.

bool SdhNode::isDSAInitialized_ [private]

Definition at line 141 of file sdh.cpp.

bool SdhNode::isError_ [private]

Definition at line 142 of file sdh.cpp.

bool SdhNode::isInitialized_ [private]

Definition at line 140 of file sdh.cpp.

std::vector< std::string > SdhNode::joint_names_ [private]

Definition at line 148 of file sdh.cpp.

ros::NodeHandle SdhNode::nh_

create a handle for this node, initialize node

Definition at line 102 of file sdh.cpp.

std::string SdhNode::operationMode_ [private]

Definition at line 153 of file sdh.cpp.

double SdhNode::pi_ [private]

Definition at line 144 of file sdh.cpp.

SDH::cSDH * SdhNode::sdh_ [private]

Definition at line 128 of file sdh.cpp.

int SdhNode::sdhdevicenum_ [private]

Definition at line 134 of file sdh.cpp.

std::string SdhNode::sdhdevicestring_ [private]

Definition at line 133 of file sdh.cpp.

std::string SdhNode::sdhdevicetype_ [private]

Definition at line 132 of file sdh.cpp.

ros::ServiceServer SdhNode::srvServer_Init_ [private]

Definition at line 115 of file sdh.cpp.

ros::ServiceServer SdhNode::srvServer_Recover_ [private]

Definition at line 117 of file sdh.cpp.

ros::ServiceServer SdhNode::srvServer_SetOperationMode_ [private]

Definition at line 118 of file sdh.cpp.

ros::ServiceServer SdhNode::srvServer_Stop_ [private]

Definition at line 116 of file sdh.cpp.

std::vector< SDH::cSDH::eAxisState > SdhNode::state_ [private]

Definition at line 130 of file sdh.cpp.

ros::Subscriber SdhNode::subSetVelocities_ [private]

Definition at line 112 of file sdh.cpp.

ros::Subscriber SdhNode::subSetVelocitiesRaw_ [private]

Definition at line 111 of file sdh.cpp.

std::vector< double > SdhNode::targetAngles_ [private]

Definition at line 150 of file sdh.cpp.

double SdhNode::timeout_ [private]

Definition at line 138 of file sdh.cpp.

ros::Publisher SdhNode::topicPub_ControllerState_ [private]

Definition at line 106 of file sdh.cpp.

ros::Publisher SdhNode::topicPub_Diagnostics_ [private]

Definition at line 108 of file sdh.cpp.

ros::Publisher SdhNode::topicPub_JointState_ [private]

Definition at line 105 of file sdh.cpp.

ros::Publisher SdhNode::topicPub_TactileSensor_ [private]

Definition at line 107 of file sdh.cpp.

trajectory_msgs::JointTrajectory SdhNode::traj_ [private]

Definition at line 146 of file sdh.cpp.

std::vector< double > SdhNode::velocities_ [private]

Definition at line 151 of file sdh.cpp.

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

• sdh.cpp
• sdh_only.cpp