Public Member Functions
void	cmdCallback (const sensor_msgs::JointStateConstPtr &cmd_msg)
bool	connectIfNotConnected ()
	MultiControllerNode (ros::NodeHandle &nh, ros::NodeHandle &nh_private, puma_motor_driver::Gateway &gateway)
void	run ()
Private Attributes
bool	active_
ros::Subscriber	cmd_sub_
uint8_t	desired_mode_
std::vector < puma_motor_driver::Driver >	drivers_
int	encoder_cpr_
int	freq_
puma_motor_driver::Gateway &	gateway_
double	gear_ratio_
boost::shared_ptr < puma_motor_driver::MultiDriverNode >	multi_driver_node_
ros::NodeHandle	nh_
ros::NodeHandle	nh_private_
uint8_t	status_count_

Detailed Description

Software License Agreement (BSD)

Authors:: Mike Purvis <mpurvis@clearpathrobotics.com>

Copyright:: Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR- RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN- DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Definition at line 46 of file multi_controller_node.cpp.