#include <YouBotConfiguration.h>

Public Member Functions
	YouBotArmConfiguration ()
	Standard constructor.
virtual	~YouBotArmConfiguration ()
	Standard destructor.
Public Attributes
std::string	armID
	"Name" of the arm. Typically derived from name of youBot configuration file.
ros::Publisher	armJointStatePublisher
	Publishes JointState messages with angles for the arm.
actionlib::ActionServer < control_msgs::FollowJointTrajectoryAction > *	armJointTrajectoryAction
	Implements a "control_msgs/FollowJointTrajectory" action.
ros::Subscriber	armPositionCommandSubscriber
	Receives "brics_actuator/JointPositions" for the arm joints.
ros::Subscriber	armVelocityCommandSubscriber
	Receives "brics_actuator/JointVelocities" for the arm joints.
ros::ServiceServer	calibrateService
	Service to calibrate the arm.
std::string	commandTopicName
	Name prefix for topic e.g arm_1/...
std::vector< std::string >	gripperFingerNames
	Joint names for the gripper fingers.
ros::Subscriber	gripperPositionCommandSubscriber
	Receives "brics_actuator/JointPositions" for the gripper.
std::vector< std::string >	jointNames
	Names of the joints. Are typically derived from the configuration files.
double	lastGripperCommand
std::string	parentFrameIDName
	Parent frameID for the published messages.
ros::ServiceServer	switchOffMotorsService
	Service to switch the motor off by setting the PWM value to zero.
ros::ServiceServer	switchONMotorsService
	Service to switch the motor ON by setting the velocity to zero.
youbot::YouBotManipulator *	youBotArm
	Handle to the arm.
Static Public Attributes
static const unsigned int	LEFT_FINGER_INDEX = 0
static const unsigned int	RIGHT_FINGER_INDEX = 1

Detailed Description

Definition at line 103 of file YouBotConfiguration.h.

Constructor & Destructor Documentation

youBot::YouBotArmConfiguration::YouBotArmConfiguration ( )

Standard constructor.

Definition at line 76 of file YouBotConfiguration.cpp.

youBot::YouBotArmConfiguration::~YouBotArmConfiguration ( ) [virtual]

Standard destructor.

Definition at line 94 of file YouBotConfiguration.cpp.

Member Data Documentation

std::string youBot::YouBotArmConfiguration::armID

"Name" of the arm. Typically derived from name of youBot configuration file.

Definition at line 118 of file YouBotConfiguration.h.

ros::Publisher youBot::YouBotArmConfiguration::armJointStatePublisher

Publishes JointState messages with angles for the arm.

Definition at line 149 of file YouBotConfiguration.h.

actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction>* youBot::YouBotArmConfiguration::armJointTrajectoryAction

Implements a "control_msgs/FollowJointTrajectory" action.

Definition at line 142 of file YouBotConfiguration.h.

ros::Subscriber youBot::YouBotArmConfiguration::armPositionCommandSubscriber

Receives "brics_actuator/JointPositions" for the arm joints.

Definition at line 136 of file YouBotConfiguration.h.

ros::Subscriber youBot::YouBotArmConfiguration::armVelocityCommandSubscriber

Receives "brics_actuator/JointVelocities" for the arm joints.

Definition at line 139 of file YouBotConfiguration.h.

ros::ServiceServer youBot::YouBotArmConfiguration::calibrateService

Service to calibrate the arm.

Definition at line 158 of file YouBotConfiguration.h.

std::string youBot::YouBotArmConfiguration::commandTopicName

Name prefix for topic e.g arm_1/...

Definition at line 121 of file YouBotConfiguration.h.

std::vector<std::string> youBot::YouBotArmConfiguration::gripperFingerNames

Joint names for the gripper fingers.

Definition at line 130 of file YouBotConfiguration.h.

ros::Subscriber youBot::YouBotArmConfiguration::gripperPositionCommandSubscriber

Receives "brics_actuator/JointPositions" for the gripper.

Definition at line 145 of file YouBotConfiguration.h.

std::vector<std::string> youBot::YouBotArmConfiguration::jointNames

Names of the joints. Are typically derived from the configuration files.

Definition at line 127 of file YouBotConfiguration.h.

double youBot::YouBotArmConfiguration::lastGripperCommand

This variable memorizes the last successfully set value for the gripper, so it can be published in the joint state message. This is necessary at the moment, as it is not yet possible to measure the actual distance. Consider the gripper joint state as an open loop value.

Definition at line 169 of file YouBotConfiguration.h.

const unsigned int youBot::YouBotArmConfiguration::LEFT_FINGER_INDEX = 0 [static]

Definition at line 132 of file YouBotConfiguration.h.

std::string youBot::YouBotArmConfiguration::parentFrameIDName

Parent frameID for the published messages.

Definition at line 124 of file YouBotConfiguration.h.

const unsigned int youBot::YouBotArmConfiguration::RIGHT_FINGER_INDEX = 1 [static]

Definition at line 133 of file YouBotConfiguration.h.

ros::ServiceServer youBot::YouBotArmConfiguration::switchOffMotorsService

Service to switch the motor off by setting the PWM value to zero.

Definition at line 152 of file YouBotConfiguration.h.

ros::ServiceServer youBot::YouBotArmConfiguration::switchONMotorsService