arm_safety Class Reference

notifies users of exceeding torque limit on joints More...

#include <arm_safety.h>

List of all members.

Public Member Functions
	arm_safety ()
	Constructor.
Private Member Functions
void	joints_cback (const sensor_msgs::JointState::ConstPtr &scan)
Private Attributes
bool	enable_audible_warnings
ros::Subscriber	joint_sub
ros::NodeHandle	node

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Detailed Description

notifies users of exceeding torque limit on joints

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.

Definition at line 37 of file arm_safety.h.

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Constructor & Destructor Documentation

arm_safety::arm_safety

(

)

Constructor.

Definition at line 5 of file arm_safety.cpp.

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Member Function Documentation

void arm_safety::joints_cback

(

const sensor_msgs::JointState::ConstPtr &

scan

)

[private]

Joint_states topic callback function.

Parameters:

scan	- the message for the scan topic

Definition at line 15 of file arm_safety.cpp.

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Member Data Documentation

bool arm_safety::enable_audible_warnings [private]

launch param to determine if this node should produce audible warnings when the arm exceeds a safety threshold

Definition at line 57 of file arm_safety.h.

ros::Subscriber arm_safety::joint_sub [private]

the JointState topic

Definition at line 55 of file arm_safety.h.

ros::NodeHandle arm_safety::node [private]

a handle for this ROS node

Definition at line 53 of file arm_safety.h.

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

• arm_safety.h
• arm_safety.cpp