sr_ronex_simple_controller.hpp
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00001 /*
00002  * Copyright (c) 2013, Shadow Robot Company, All rights reserved.
00003  * 
00004  * This library is free software; you can redistribute it and/or
00005  * modify it under the terms of the GNU Lesser General Public
00006  * License as published by the Free Software Foundation; either
00007  * version 3.0 of the License, or (at your option) any later version.
00008  * 
00009  * This library is distributed in the hope that it will be useful,
00010  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00011  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
00012  * Lesser General Public License for more details.
00013  * 
00014  * You should have received a copy of the GNU Lesser General Public
00015  * License along with this library.
00016  */
00017 
00024 #ifndef _SR_RONEX_SIMPLE_CONTROLLER_HPP_
00025 #define _SR_RONEX_SIMPLE_CONTROLLER_HPP_
00026 
00027 #include <ros/node_handle.h>
00028 
00029 #include <controller_interface/controller.h>
00030 #include <ros_ethercat_model/robot_state.hpp>
00031 #include <sr_ronex_hardware_interface/mk2_gio_hardware_interface.hpp>
00032 #include <realtime_tools/realtime_publisher.h>
00033 #include <sr_ronex_utilities/sr_ronex_utilities.hpp>
00034 
00035 #include <std_msgs/Bool.h>
00036 #include <sr_ronex_msgs/PWM.h>
00037 
00038 namespace ronex
00039 {
00040 class SrRoNeXSimpleController
00041   : public controller_interface::Controller<ros_ethercat_model::RobotState>
00042 {
00043 public:
00044   SrRoNeXSimpleController();
00045   virtual ~SrRoNeXSimpleController();
00046 
00047   virtual bool init(ros_ethercat_model::RobotState* robot, ros::NodeHandle &n);
00048 
00049   virtual void starting(const ros::Time&);
00050 
00051   virtual void update(const ros::Time&, const ros::Duration&);
00052 
00053   virtual void stopping(const ros::Time&);
00054 
00055 private:
00056   int loop_count_;
00057 
00058   ronex::GeneralIO* general_io_;
00059 };
00060 }  // namespace ronex
00061 
00062 #endif /* _SR_RONEX_SIMPLE_CONTROLLER_HPP_ */


sr_ronex_examples
Author(s): Ugo Cupcic, Toni Oliver, Mark Pitchless, Yi Li
autogenerated on Thu Jun 6 2019 21:22:11