arm_safety.h File Reference

#include <ros/ros.h>
#include <time.h>
#include <stdio.h>
#include <sensor_msgs/JointState.h>

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Classes
class	arm_safety
	notifies users of exceeding torque limit on joints More...
Defines
#define	F1_THRESHOLD   1.5
#define	F2_THRESHOLD   1.5
#define	F3_THRESHOLD   1.5
#define	J1_THRESHOLD   7.0
	notifies users of exceeding torque limit on joints
#define	J2_THRESHOLD   25.5
#define	J3_THRESHOLD   14.0
#define	J4_THRESHOLD   5.0
#define	J5_THRESHOLD   5.0
#define	J6_THRESHOLD   3.5
Functions
int	main (int argc, char **argv)

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Define Documentation

#define F1_THRESHOLD   1.5

Definition at line 26 of file arm_safety.h.

#define F2_THRESHOLD   1.5

Definition at line 27 of file arm_safety.h.

#define F3_THRESHOLD   1.5

Definition at line 28 of file arm_safety.h.

#define J1_THRESHOLD   7.0

notifies users of exceeding torque limit on joints

.h arm_safety creates a ROS node that causes an audible notification and ROS error when the torque one one of CARL's arm joints exceeds a threshold.

Author:

Brian Hetherman, WPI - bhetherman@wpi.edu

Date:

October 27, 2014

Definition at line 20 of file arm_safety.h.

#define J2_THRESHOLD   25.5

Definition at line 21 of file arm_safety.h.

#define J3_THRESHOLD   14.0

Definition at line 22 of file arm_safety.h.

#define J4_THRESHOLD   5.0

Definition at line 23 of file arm_safety.h.

#define J5_THRESHOLD   5.0

Definition at line 24 of file arm_safety.h.

#define J6_THRESHOLD   3.5

Definition at line 25 of file arm_safety.h.

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Function Documentation

int main	(	int	argc,
		char **	argv
	)

Creates and runs the arm_safety 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 60 of file arm_safety.cpp.