test_vel_control.cpp File Reference

#include <yumi_test_controllers.h>

Include dependency graph for test_vel_control.cpp:

Go to the source code of this file.

Functions
void	joint_states_callback (const sensor_msgs::JointState &msg)
int	main (int argc, char *argv[])
void	quitRequested (int sig)
void	send_sinusoidal_vel_joints ()
Variables
auto	curr_call_time = std::chrono::high_resolution_clock::now()
bool	g_quit
sensor_msgs::JointState	joints_state
auto	last_call_time = std::chrono::high_resolution_clock::now()
auto	last_sample_time = std::chrono::high_resolution_clock::now()
std_msgs::Float64	left_command
ros::Publisher	left_controller_pub
int	left_joint_state_idx = 4
ros::Publisher	left_state_pub
int	num_joints = 14
int	num_joints_arm = 7
std_msgs::Float64	right_command
ros::Publisher	right_controller_pub
int	right_joint_state_idx = 4
ros::Publisher	right_state_pub
double	sampling_freq = 200
double	sampling_period = 1/sampling_freq
double	sine_amp = 0.3
double	sine_freq = 1 / sine_period
double	sine_period = 10.0
ros::Subscriber	sub
int	test_joint_number = 3
ros::Publisher	vel_signal_pub

---

Function Documentation

void joint_states_callback

(

const sensor_msgs::JointState &

msg

)

Definition at line 84 of file test_vel_control.cpp.

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

Definition at line 99 of file test_vel_control.cpp.

void quitRequested

(

int

sig

)

Definition at line 37 of file test_vel_control.cpp.

void send_sinusoidal_vel_joints

(

)

Definition at line 49 of file test_vel_control.cpp.

---

Variable Documentation

auto curr_call_time = std::chrono::high_resolution_clock::now()

Definition at line 20 of file test_vel_control.cpp.

bool g_quit

Definition at line 36 of file test_vel_control.cpp.

sensor_msgs::JointState joints_state

Definition at line 5 of file test_vel_control.cpp.

auto last_call_time = std::chrono::high_resolution_clock::now()

Definition at line 19 of file test_vel_control.cpp.

auto last_sample_time = std::chrono::high_resolution_clock::now()

Definition at line 18 of file test_vel_control.cpp.

std_msgs::Float64 left_command

Definition at line 7 of file test_vel_control.cpp.

ros::Publisher left_controller_pub

Definition at line 29 of file test_vel_control.cpp.

int left_joint_state_idx = 4

Definition at line 14 of file test_vel_control.cpp.

ros::Publisher left_state_pub

Definition at line 31 of file test_vel_control.cpp.

int num_joints = 14

Definition at line 11 of file test_vel_control.cpp.

int num_joints_arm = 7

Definition at line 12 of file test_vel_control.cpp.

std_msgs::Float64 right_command

Definition at line 8 of file test_vel_control.cpp.

ros::Publisher right_controller_pub

Definition at line 30 of file test_vel_control.cpp.

int right_joint_state_idx = 4

Definition at line 15 of file test_vel_control.cpp.

ros::Publisher right_state_pub

Definition at line 32 of file test_vel_control.cpp.

double sampling_freq = 200

Definition at line 26 of file test_vel_control.cpp.

double sampling_period = 1/sampling_freq

Definition at line 27 of file test_vel_control.cpp.

double sine_amp = 0.3

Definition at line 24 of file test_vel_control.cpp.

double sine_freq = 1 / sine_period

Definition at line 23 of file test_vel_control.cpp.

double sine_period = 10.0

Definition at line 22 of file test_vel_control.cpp.

ros::Subscriber sub

Definition at line 34 of file test_vel_control.cpp.

int test_joint_number = 3

Definition at line 13 of file test_vel_control.cpp.

ros::Publisher vel_signal_pub

Definition at line 33 of file test_vel_control.cpp.