Client class for PG70 serial control. More...

#include <pg70_rs232_control.h>

Public Member Functions
bool	acknowledgeErrorCallback (schunk_pg70::acknowledge_error::Request &req, schunk_pg70::acknowledge_error::Response &res)
	AcknowledgeError service callback.
bool	getErrorCallback (schunk_pg70::get_error::Request &req, schunk_pg70::get_error::Response &res)
	GetError service callback.
bool	getPositionCallback (schunk_pg70::get_position::Request &req, schunk_pg70::get_position::Response &res)
	GetPosition service callback.
	PG70_serial (ros::NodeHandle *nh)
	Construct a client for PG70 serial control.
bool	referenceCallback (schunk_pg70::reference::Request &req, schunk_pg70::reference::Response &res)
	Reference service callback.
bool	setPositionCallback (schunk_pg70::set_position::Request &req, schunk_pg70::set_position::Response &res)
	SetPosition service callback.
bool	stopCallback (schunk_pg70::stop::Request &req, schunk_pg70::stop::Response &res)
	Stop service callback.
void	timerCallback (const ros::TimerEvent &event)
	Timer callback to read serial input buffer periodically.
	~PG70_serial ()
Public Attributes
ros::Publisher	joint_pub
	Gripper joint state publisher.
Static Public Attributes
static const float	TF_UPDATE_PERIOD = 0.1
	TF update period in seconds.
Private Member Functions
void	acknowledgeError (serial::Serial *port)
	Send CMD_ACK(0x8b) command to the gripper.
uint16_t	CRC16 (uint16_t crc, uint16_t data)
	Function to determine checksum.
void	float_to_IEEE_754 (float position, unsigned int *output_array)
	Conversion from float to 4 bytes.
uint8_t	getError (serial::Serial *port)
	Read actual error by GET STATE(0x95) command.
void	getPeriodicPositionUpdate (serial::Serial *port, float update_frequency)
	Set periodic position reading by GET_STATE(0x95) command.
float	getPosition (serial::Serial *port)
	Read actual position by GET_STATE(0x95) command.
float	IEEE_754_to_float (uint8_t *raw)
	Conversion from 4 bytes to float.
void	reference (serial::Serial *port)
	Send CMD REFERENCE(0x92) command to the gripper.
void	setPosition (serial::Serial *port, int goal_position, int velocity, int acceleration)
	Send MOV_POS(0x80) command to the gripper.
void	stop (serial::Serial *port)
	Send CMD_STOP(0x91) to stop moving gripper.
Private Attributes
float	act_position_
int	baudrate_
serial::Serial *	com_port_
int	gripper_id_
uint8_t	pg70_error_
sensor_msgs::JointState	pg70_joint_state_
std::string	port_name_
Static Private Attributes
static const double	INPUT_BUFFER_SIZE = 64
static const double	MAX_GRIPPER_ACC_LIMIT = 320
static const double	MAX_GRIPPER_POS_LIMIT = 69
static const double	MAX_GRIPPER_VEL_LIMIT = 83
static const double	MIN_GRIPPER_ACC_LIMIT = 0
static const double	MIN_GRIPPER_POS_LIMIT = 0
static const double	MIN_GRIPPER_VEL_LIMIT = 0
static const int	URDF_SCALE_FACTOR = 2000
static const double	WAIT_FOR_RESPONSE_INTERVAL = 0.5

Detailed Description

Client class for PG70 serial control.

Definition at line 54 of file pg70_rs232_control.h.

Constructor & Destructor Documentation

schunk_pg70::PG70_serial::PG70_serial ( ros::NodeHandle * nh )

Construct a client for PG70 serial control.

Definition at line 41 of file pg70_rs232_control_lib.cpp.

schunk_pg70::PG70_serial::~PG70_serial ( )

Definition at line 70 of file pg70_rs232_control_lib.cpp.

Member Function Documentation

void schunk_pg70::PG70_serial::acknowledgeError ( serial::Serial * port ) [private]

Send CMD_ACK(0x8b) command to the gripper.

Definition at line 189 of file pg70_rs232_control_lib.cpp.

bool schunk_pg70::PG70_serial::acknowledgeErrorCallback	(	schunk_pg70::acknowledge_error::Request &	req,
		schunk_pg70::acknowledge_error::Response &	res
	)

AcknowledgeError service callback.

Definition at line 435 of file pg70_rs232_control_lib.cpp.

uint16_t schunk_pg70::PG70_serial::CRC16	(	uint16_t	crc,
		uint16_t	data
	)		`[private]`

Function to determine checksum.

Definition at line 533 of file pg70_rs232_control_lib.cpp.

void schunk_pg70::PG70_serial::float_to_IEEE_754	(	float	position,
		unsigned int *	output_array
	)		`[private]`

Conversion from float to 4 bytes.

Definition at line 524 of file pg70_rs232_control_lib.cpp.

uint8_t schunk_pg70::PG70_serial::getError ( serial::Serial * port ) [private]

Read actual error by GET STATE(0x95) command.

Definition at line 100 of file pg70_rs232_control_lib.cpp.

bool schunk_pg70::PG70_serial::getErrorCallback	(	schunk_pg70::get_error::Request &	req,
		schunk_pg70::get_error::Response &	res
	)

GetError service callback.

Definition at line 427 of file pg70_rs232_control_lib.cpp.

void schunk_pg70::PG70_serial::getPeriodicPositionUpdate	(	serial::Serial *	port,
		float	update_frequency
	)		`[private]`

Set periodic position reading by GET_STATE(0x95) command.

Definition at line 316 of file pg70_rs232_control_lib.cpp.

float schunk_pg70::PG70_serial::getPosition ( serial::Serial * port ) [private]

Read actual position by GET_STATE(0x95) command.

Definition at line 260 of file pg70_rs232_control_lib.cpp.

bool schunk_pg70::PG70_serial::getPositionCallback	(	schunk_pg70::get_position::Request &	req,
		schunk_pg70::get_position::Response &	res
	)

GetPosition service callback.

Definition at line 419 of file pg70_rs232_control_lib.cpp.

float schunk_pg70::PG70_serial::IEEE_754_to_float ( uint8_t * raw ) [private]

Conversion from 4 bytes to float.

Definition at line 507 of file pg70_rs232_control_lib.cpp.

void schunk_pg70::PG70_serial::reference ( serial::Serial * port ) [private]

Send CMD REFERENCE(0x92) command to the gripper.

Definition at line 77 of file pg70_rs232_control_lib.cpp.

bool schunk_pg70::PG70_serial::referenceCallback	(	schunk_pg70::reference::Request &	req,
		schunk_pg70::reference::Response &	res
	)

Reference service callback.

Definition at line 375 of file pg70_rs232_control_lib.cpp.

void schunk_pg70::PG70_serial::setPosition	(	serial::Serial *	port,
		int	goal_position,
		int	velocity,
		int	acceleration
	)		`[private]`

Send MOV_POS(0x80) command to the gripper.

Definition at line 212 of file pg70_rs232_control_lib.cpp.

bool schunk_pg70::PG70_serial::setPositionCallback	(	schunk_pg70::set_position::Request &	req,
		schunk_pg70::set_position::Response &	res
	)

SetPosition service callback.

Definition at line 383 of file pg70_rs232_control_lib.cpp.

void schunk_pg70::PG70_serial::stop ( serial::Serial * port ) [private]

Send CMD_STOP(0x91) to stop moving gripper.

Definition at line 348 of file pg70_rs232_control_lib.cpp.

bool schunk_pg70::PG70_serial::stopCallback	(	schunk_pg70::stop::Request &	req,
		schunk_pg70::stop::Response &	res
	)

Stop service callback.

Definition at line 448 of file pg70_rs232_control_lib.cpp.

void schunk_pg70::PG70_serial::timerCallback ( const ros::TimerEvent & event )

Timer callback to read serial input buffer periodically.

Definition at line 458 of file pg70_rs232_control_lib.cpp.

Member Data Documentation

float schunk_pg70::PG70_serial::act_position_ [private]

Definition at line 134 of file pg70_rs232_control.h.

int schunk_pg70::PG70_serial::baudrate_ [private]

Definition at line 131 of file pg70_rs232_control.h.

serial::Serial* schunk_pg70::PG70_serial::com_port_ [private]

Definition at line 139 of file pg70_rs232_control.h.

int schunk_pg70::PG70_serial::gripper_id_ [private]

Definition at line 129 of file pg70_rs232_control.h.

const double schunk_pg70::PG70_serial::INPUT_BUFFER_SIZE = 64 [static, private]

Definition at line 149 of file pg70_rs232_control.h.

ros::Publisher schunk_pg70::PG70_serial::joint_pub

Gripper joint state publisher.

Definition at line 91 of file pg70_rs232_control.h.

const double schunk_pg70::PG70_serial::MAX_GRIPPER_ACC_LIMIT = 320 [static, private]

Definition at line 147 of file pg70_rs232_control.h.

const double schunk_pg70::PG70_serial::MAX_GRIPPER_POS_LIMIT = 69 [static, private]

Definition at line 143 of file pg70_rs232_control.h.

const double schunk_pg70::PG70_serial::MAX_GRIPPER_VEL_LIMIT = 83 [static, private]

Definition at line 145 of file pg70_rs232_control.h.

const double schunk_pg70::PG70_serial::MIN_GRIPPER_ACC_LIMIT = 0 [static, private]

Definition at line 146 of file pg70_rs232_control.h.

const double schunk_pg70::PG70_serial::MIN_GRIPPER_POS_LIMIT = 0 [static, private]

Definition at line 142 of file pg70_rs232_control.h.

const double schunk_pg70::PG70_serial::MIN_GRIPPER_VEL_LIMIT = 0 [static, private]

Definition at line 144 of file pg70_rs232_control.h.

uint8_t schunk_pg70::PG70_serial::pg70_error_ [private]

Definition at line 135 of file pg70_rs232_control.h.

sensor_msgs::JointState schunk_pg70::PG70_serial::pg70_joint_state_ [private]

Definition at line 136 of file pg70_rs232_control.h.

std::string schunk_pg70::PG70_serial::port_name_ [private]

Definition at line 130 of file pg70_rs232_control.h.

const float schunk_pg70::PG70_serial::TF_UPDATE_PERIOD = 0.1 [static]

TF update period in seconds.

Definition at line 94 of file pg70_rs232_control.h.

const int schunk_pg70::PG70_serial::URDF_SCALE_FACTOR = 2000 [static, private]

Definition at line 150 of file pg70_rs232_control.h.

const double schunk_pg70::PG70_serial::WAIT_FOR_RESPONSE_INTERVAL = 0.5 [static, private]

Definition at line 148 of file pg70_rs232_control.h.

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

Public Member Functions

Public Attributes

Static Public Attributes

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation