ridgeback_base.cpp File Reference

Main entry point for ridgeback base. More...

#include <string>
#include <boost/asio.hpp>
#include <boost/bind.hpp>
#include <boost/thread.hpp>
#include <boost/chrono.hpp>
#include <boost/foreach.hpp>
#include <boost/assign/list_of.hpp>
#include "controller_manager/controller_manager.h"
#include "ridgeback_base/ridgeback_diagnostic_updater.h"
#include "ridgeback_base/ridgeback_hardware.h"
#include "ridgeback_base/ridgeback_cooling.h"
#include "ridgeback_base/ridgeback_lighting.h"
#include "ridgeback_base/passive_joint_publisher.h"
#include "puma_motor_driver/diagnostic_updater.h"
#include "ros/ros.h"
#include "rosserial_server/serial_session.h"

Include dependency graph for ridgeback_base.cpp:

Go to the source code of this file.

Typedefs
typedef boost::chrono::steady_clock	time_source
Functions
void	canReadThread (ros::Rate rate, ridgeback_base::RidgebackHardware *robot)
void	controlThread (ros::Rate rate, ridgeback_base::RidgebackHardware *robot, controller_manager::ControllerManager *cm)
int	main (int argc, char *argv[])

---

Detailed Description

Main entry point for ridgeback base.

Author:

Mike Purvis <mpurvis@clearpathrobotics.com>

Tony Baltovski <tbaltovski@clearpathrobotics.com>

Copyright:

Copyright (c) 2013, Clearpath Robotics, Inc.

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, Inc. 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 WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, 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.

Please send comments, questions, or patches to code@clearpathrobotics.com

Definition in file ridgeback_base.cpp.

---

Typedef Documentation

typedef boost::chrono::steady_clock time_source

Definition at line 54 of file ridgeback_base.cpp.

---

Function Documentation

void canReadThread	(	ros::Rate	rate,
		ridgeback_base::RidgebackHardware *	robot
	)

Definition at line 97 of file ridgeback_base.cpp.

void controlThread	(	ros::Rate	rate,
		ridgeback_base::RidgebackHardware *	robot,
		controller_manager::ControllerManager *	cm
	)

Definition at line 56 of file ridgeback_base.cpp.

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 106 of file ridgeback_base.cpp.