aubo_driver.h
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00001 /*##############################################################################################################################################
00002 Note:aubo_driver is a sample of TCP/IP interface for AUBO-i5.
00003 There ara some main API for application as follow,please see our_control_api.h for more information.
00004 ##############################################################################################################################################
00005 void init_move_profile();                                //初始化move的属性
00006 void set_scurve(int val);                                //设置S曲线是否有效
00007 void set_tcp(double *tcp_pose,int count);                //设置TCP参数
00008 void set_relative_offset(double *offset,int count);      //设置MOVE的偏移量
00009 void set_wait_move_finish(int val);                      //设置MOVE的偏移量   设置是否等待到位信号  即  阻塞与非阻塞
00010 void set_feature(const char *feature_name);              //设置坐标系
00011 void add_waypoint(const double *pos, int count);         //用于MOVE 中增加路点
00012 
00013 int  movej(double *pos, int count, double acc, double velc);
00014 int  movel(double *pos, int count, double acc, double velc);
00015 int  movel_to(double x, double y, double z, double acc, double velc);
00016 int  movep(double acc, double velc,double blend_radius,int track_mode);
00017 
00018 int  set_payload(double weight, double *cog, int count);  //设置运行时负载
00019 
00020 int    is_exist_current_io    ( our_contorl_io_type  io_type, our_contorl_io_mode io_mode,int io_index);   //判断对应IO是否存在
00021 int    set_robot_one_io_status( our_contorl_io_type  io_type, our_contorl_io_mode io_mode,int io_index, double io_value);  //设置指定IO 的状态
00022 double get_robot_one_io_status( our_contorl_io_type  io_type, our_contorl_io_mode io_mode,int io_index);   //获取指定IO 的状态
00023 ##############################################################################################################################################*/
00024 
00025 
00026 #ifndef AUBO_DRIVER_H_
00027 #define AUBO_DRIVER_H_
00028 
00029 #include <ros/ros.h>
00030 #include <std_msgs/Float32MultiArray.h>
00031 #include <aubo_msgs/IOState.h>
00032 #include <aubo_msgs/JointPos.h>
00033 
00034 
00035 class AuboDriver {
00036 private:
00037         bool reverse_connected_;
00038         
00039         ros::NodeHandle nh;
00040         ros::Publisher  pos_pub;
00041         ros::Subscriber sub1;
00042         ros::Subscriber sub2;
00043         ros::Subscriber sub3;
00044         ros::Timer timer;
00045 public:
00046         
00047         AuboDriver(std::string host,unsigned int reverse_port = 8887);
00048 
00049         void chatterCallback1(const std_msgs::Float32MultiArray::ConstPtr &msg);
00050         void chatterCallback2(const std_msgs::Float32MultiArray::ConstPtr &msg);
00051         void chatterCallback3(const aubo_msgs::IOState::ConstPtr &msg);
00052         void timerCallback(const ros::TimerEvent& e);
00053 
00054         
00055 };
00056 
00057 #endif /* AUBO_DRIVER_H_ */


aubo_driver
Author(s): liuxin
autogenerated on Sat Jun 8 2019 19:06:01