motors_monitor.h
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00001 
00002 #include <ros/ros.h>
00003 #include <string>
00004 
00005 namespace roboteq_msgs {
00006 ROS_DECLARE_MESSAGE(Feedback);
00007 ROS_DECLARE_MESSAGE(Status);
00008 }
00009 
00010 
00011 class MotorsMonitor {
00012 public:
00013   MotorsMonitor(ros::NodeHandle* nh);
00014 
00015   bool ok();
00016 
00017 protected:
00018   ros::NodeHandle nh_;
00019 
00020   // Callbacks receive inbound data
00021   void motor_feedback(const roboteq_msgs::FeedbackConstPtr, const int);
00022   void motor_status(const roboteq_msgs::StatusConstPtr&, const int);
00023   void msg_watchdog(const ros::TimerEvent&);
00024   int lookForSeriousFault(uint8_t, const int);
00025 
00026   int fault_level_[4];
00027 
00028   ros::Subscriber fb_sub_[4], stat_sub_[4];
00029   ros::Publisher estop_pub_;  
00030   ros::Duration motors_timeout_;
00031   roboteq_msgs::StatusConstPtr last_received_status_[4]; 
00032   roboteq_msgs::FeedbackConstPtr last_received_feedback_[4];
00033 };


grizzly_motion
Author(s):
autogenerated on Thu Jun 6 2019 21:44:02