RosEthercat Class Reference

#include <ros_ethercat.hpp>

Inheritance diagram for RosEthercat:

List of all members.

Public Member Functions
virtual bool	init (ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh)
void	read (const ros::Time &time, const ros::Duration &period)
	propagate position actuator -> joint and set commands to zero
	RosEthercat ()
	RosEthercat (ros::NodeHandle &nh, const string &eth, bool allow, TiXmlElement *config)
void	shutdown ()
	stop all actuators
void	write (const ros::Time &time, const ros::Duration &period)
	propagate effort joint -> actuator and enforce safety limits
virtual	~RosEthercat ()
Public Attributes
string	eth_
ptr_vector< EthercatHardware >	ethercat_hardware_
hardware_interface::EffortJointInterface	joint_effort_command_interface_
hardware_interface::PositionJointInterface	joint_position_command_interface_
hardware_interface::JointStateInterface	joint_state_interface_
hardware_interface::VelocityJointInterface	joint_velocity_command_interface_
boost::scoped_ptr < MechStatsPublisher >	mech_stats_publisher_
boost::shared_ptr < ros_ethercat_model::RobotState >	model_
ros_ethercat_model::RobotStateInterface	robot_state_interface_
Static Public Attributes
static const string	pid_dir = "/var/tmp/run/"
Protected Member Functions
void	collect_diagnostics_loop ()
bool	is_collect_diagnostics_running ()
void	stop_collect_diagnostics ()
Static Protected Member Functions
static void	cleanupPidFile (const char *interface)
static string	generatePIDFilename (const char *interface)
static int	lock_fd (int fd)
static int	setupPidFile (const char *interface)
Protected Attributes
bool	collect_diagnostics_running_
boost::thread	collect_diagnostics_thread_
bool	compatibility_mode_
std::string	robot_state_name_
bool	run_diagnostics_

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Detailed Description

Definition at line 88 of file ros_ethercat.hpp.

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Constructor & Destructor Documentation

RosEthercat::RosEthercat

(

)

[inline]

Definition at line 91 of file ros_ethercat.hpp.

RosEthercat::RosEthercat	(	ros::NodeHandle &	nh,
		const string &	eth,
		bool	allow,
		TiXmlElement *	config
	)		[inline]

Definition at line 99 of file ros_ethercat.hpp.

virtual RosEthercat::~RosEthercat

(

)

[inline, virtual]

Definition at line 151 of file ros_ethercat.hpp.

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Member Function Documentation

static void RosEthercat::cleanupPidFile

(

const char *

interface

)

[inline, static, protected]

Definition at line 468 of file ros_ethercat.hpp.

void RosEthercat::collect_diagnostics_loop

(

)

[inline, protected]

Definition at line 474 of file ros_ethercat.hpp.

static string RosEthercat::generatePIDFilename

(

const char *

interface

)

[inline, static, protected]

Definition at line 381 of file ros_ethercat.hpp.

virtual bool RosEthercat::init	(	ros::NodeHandle &	root_nh,
		ros::NodeHandle &	robot_hw_nh
	)		[inline, virtual]

Definition at line 169 of file ros_ethercat.hpp.

bool RosEthercat::is_collect_diagnostics_running

(

)

[inline, protected]

Definition at line 495 of file ros_ethercat.hpp.

static int RosEthercat::lock_fd

(

int

fd

)

[inline, static, protected]

Definition at line 369 of file ros_ethercat.hpp.

void RosEthercat::read	(	const ros::Time &	time,
		const ros::Duration &	period
	)		[inline]

propagate position actuator -> joint and set commands to zero

Definition at line 279 of file ros_ethercat.hpp.

static int RosEthercat::setupPidFile

(

const char *

interface

)

[inline, static, protected]

Definition at line 388 of file ros_ethercat.hpp.

void RosEthercat::shutdown

(

)

[inline]

stop all actuators

Definition at line 332 of file ros_ethercat.hpp.

void RosEthercat::stop_collect_diagnostics

(

)

[inline, protected]

Definition at line 490 of file ros_ethercat.hpp.

void RosEthercat::write	(	const ros::Time &	time,
		const ros::Duration &	period
	)		[inline]

propagate effort joint -> actuator and enforce safety limits

Modify the commanded_effort_ of each joint state so that the joint limits are satisfied

Definition at line 308 of file ros_ethercat.hpp.

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Member Data Documentation

bool RosEthercat::collect_diagnostics_running_ [protected]

Definition at line 502 of file ros_ethercat.hpp.

boost::thread RosEthercat::collect_diagnostics_thread_ [protected]

Definition at line 503 of file ros_ethercat.hpp.

bool RosEthercat::compatibility_mode_ [protected]

Definition at line 500 of file ros_ethercat.hpp.

string RosEthercat::eth_

Definition at line 352 of file ros_ethercat.hpp.

ptr_vector<EthercatHardware> RosEthercat::ethercat_hardware_

Definition at line 354 of file ros_ethercat.hpp.

hardware_interface::EffortJointInterface RosEthercat::joint_effort_command_interface_

Definition at line 366 of file ros_ethercat.hpp.

hardware_interface::PositionJointInterface RosEthercat::joint_position_command_interface_

Definition at line 364 of file ros_ethercat.hpp.

hardware_interface::JointStateInterface RosEthercat::joint_state_interface_

Definition at line 361 of file ros_ethercat.hpp.

hardware_interface::VelocityJointInterface RosEthercat::joint_velocity_command_interface_

Definition at line 365 of file ros_ethercat.hpp.

boost::scoped_ptr<MechStatsPublisher> RosEthercat::mech_stats_publisher_

Definition at line 355 of file ros_ethercat.hpp.

boost::shared_ptr<ros_ethercat_model::RobotState> RosEthercat::model_

Definition at line 353 of file ros_ethercat.hpp.

const string RosEthercat::pid_dir = "/var/tmp/run/" [static]

Definition at line 351 of file ros_ethercat.hpp.

ros_ethercat_model::RobotStateInterface RosEthercat::robot_state_interface_

Definition at line 358 of file ros_ethercat.hpp.

std::string RosEthercat::robot_state_name_ [protected]

Definition at line 504 of file ros_ethercat.hpp.

bool RosEthercat::run_diagnostics_ [protected]

Definition at line 501 of file ros_ethercat.hpp.

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

• ros_ethercat.hpp