#include <SchunkCanopenNode.h>

Public Member Functions
	SchunkCanopenNode ()
Private Member Functions
void	cancelCB (actionlib::ServerGoalHandle< control_msgs::FollowJointTrajectoryAction > gh)
bool	closeBrakes (std_srvs::TriggerRequest &req, std_srvs::TriggerResponse &resp)
	Close the brakes on all nodes. Use this when the device is standing still for a longer time to reduce hight motor currents for doing nothing.
bool	enableNodes (std_srvs::TriggerRequest &req, std_srvs::TriggerResponse &resp)
	This service call enables the devices after a fault, a quick stop or simply when the brakes have been closed by hand (via the close_brakes service call)
void	goalCB (actionlib::ServerGoalHandle< control_msgs::FollowJointTrajectoryAction > gh)
bool	homeAllNodes (schunk_canopen_driver::HomeAllRequest &req, schunk_canopen_driver::HomeAllResponse &resp)
	Perform a reset offset for all nodes. You should call this service, after driving the devices to their zero position manually.
bool	homeNodesCanIds (schunk_canopen_driver::HomeWithIDsRequest &req, schunk_canopen_driver::HomeWithIDsResponse &resp)
	Perform a reset offset for a given list of nodes. You should call this service, after driving the device to it's zero position manually. Only the nodes given in the node list are affected by this service call. The position of all unlisted joints is irrelevant.
bool	homeNodesJointNames (schunk_canopen_driver::HomeWithJointNamesRequest &req, schunk_canopen_driver::HomeWithJointNamesResponse &resp)
	Perform a reset offset for a given list of nodes. You should call this service, after driving the device to it's zero position manually. Only the nodes given in the node list are affected by this service call. The position of all unlisted joints is irrelevant.
void	initDevices ()
	Function that actually initializes the devices. Will get called either on startup (if autostart is allowed) or by the init_devices service call.
bool	initDevicesCb (std_srvs::TriggerRequest &req, std_srvs::TriggerResponse &resp)
	Triggers initialization of the canopen devices.
bool	quickStopNodes (std_srvs::TriggerRequest &req, std_srvs::TriggerResponse &resp)
	Performs a quick stop on all nodes. You should prefer this service call to aborting the followJointTrajectory action, as this will instantaniously stop the robot's movement without resulting in a fault state.
void	rosControlLoop ()
	When using ros_control this will perform the control loop in a separate thread.
void	trajThread (actionlib::ServerGoalHandle< control_msgs::FollowJointTrajectoryAction > &gh)
	Control loop thread when not using ros_control.
Private Attributes
actionlib::ActionServer < control_msgs::FollowJointTrajectoryAction >	m_action_server
std::vector< DS402Group::Ptr >	m_chain_handles
ros::ServiceServer	m_close_brakes_service
CanOpenController::Ptr	m_controller
boost::shared_ptr < controller_manager::ControllerManager >	m_controller_manager
ros::Publisher	m_current_pub
ros::ServiceServer	m_enable_service
boost::shared_ptr < SchunkCanopenHardwareInterface >	m_hardware_interface
bool	m_has_goal
ros::ServiceServer	m_home_service_all
ros::ServiceServer	m_home_service_canopen_ids
ros::ServiceServer	m_home_service_joint_names
bool	m_homing_active
ros::ServiceServer	m_init_service
bool	m_is_enabled
std::map< std::string, uint8_t >	m_joint_name_mapping
ros::Publisher	m_joint_pub
bool	m_nodes_initialized
ds402::ProfilePositionModeConfiguration	m_ppm_config
ros::NodeHandle	m_priv_nh
ros::NodeHandle	m_pub_nh
ros::ServiceServer	m_quick_stop_service
boost::thread	m_ros_control_thread
std::string	m_traj_controller_name
boost::thread	m_traj_thread
bool	m_use_ros_control
bool	m_was_disabled

Detailed Description

Definition at line 47 of file SchunkCanopenNode.h.

Constructor & Destructor Documentation

SchunkCanopenNode::SchunkCanopenNode ( )

Definition at line 37 of file SchunkCanopenNode.cpp.

Member Function Documentation

void SchunkCanopenNode::cancelCB ( actionlib::ServerGoalHandle< control_msgs::FollowJointTrajectoryAction > gh ) [private]

Definition at line 476 of file SchunkCanopenNode.cpp.

bool SchunkCanopenNode::closeBrakes	(	std_srvs::TriggerRequest &	req,
		std_srvs::TriggerResponse &	resp
	)		`[private]`

Close the brakes on all nodes. Use this when the device is standing still for a longer time to reduce hight motor currents for doing nothing.

Remember to call the enable_nodes service when you want to go on.

Definition at line 597 of file SchunkCanopenNode.cpp.

bool SchunkCanopenNode::enableNodes	(	std_srvs::TriggerRequest &	req,
		std_srvs::TriggerResponse &	resp
	)		`[private]`

This service call enables the devices after a fault, a quick stop or simply when the brakes have been closed by hand (via the close_brakes service call)

Definition at line 577 of file SchunkCanopenNode.cpp.

void SchunkCanopenNode::goalCB ( actionlib::ServerGoalHandle< control_msgs::FollowJointTrajectoryAction > gh ) [private]

Definition at line 314 of file SchunkCanopenNode.cpp.

bool SchunkCanopenNode::homeAllNodes	(	schunk_canopen_driver::HomeAllRequest &	req,
		schunk_canopen_driver::HomeAllResponse &	resp
	)		`[private]`

Perform a reset offset for all nodes. You should call this service, after driving the devices to their zero position manually.

Definition at line 646 of file SchunkCanopenNode.cpp.

bool SchunkCanopenNode::homeNodesCanIds	(	schunk_canopen_driver::HomeWithIDsRequest &	req,
		schunk_canopen_driver::HomeWithIDsResponse &	resp
	)		`[private]`

Perform a reset offset for a given list of nodes. You should call this service, after driving the device to it's zero position manually. Only the nodes given in the node list are affected by this service call. The position of all unlisted joints is irrelevant.

Note:: : This service call exists for canopen IDs (usually 3-8 for a lwa4p) and as an interface using the joint names from the URDF.

Definition at line 684 of file SchunkCanopenNode.cpp.

bool SchunkCanopenNode::homeNodesJointNames	(	schunk_canopen_driver::HomeWithJointNamesRequest &	req,
		schunk_canopen_driver::HomeWithJointNamesResponse &	resp
	)		`[private]`

Perform a reset offset for a given list of nodes. You should call this service, after driving the device to it's zero position manually. Only the nodes given in the node list are affected by this service call. The position of all unlisted joints is irrelevant.

Note:: : This service call exists for canopen IDs (usually 3-8 for a lwa4p) and as an interface using the joint names from the URDF.

Definition at line 660 of file SchunkCanopenNode.cpp.

void SchunkCanopenNode::initDevices ( ) [private]

Function that actually initializes the devices. Will get called either on startup (if autostart is allowed) or by the init_devices service call.

Definition at line 237 of file SchunkCanopenNode.cpp.

bool SchunkCanopenNode::initDevicesCb	(	std_srvs::TriggerRequest &	req,
		std_srvs::TriggerResponse &	resp
	)		`[private]`

Triggers initialization of the canopen devices.

This service will only be advertised when the autostart parameter is set to false. Otherwise initialization will be triggered automatically at startup.

Definition at line 228 of file SchunkCanopenNode.cpp.

bool SchunkCanopenNode::quickStopNodes	(	std_srvs::TriggerRequest &	req,
		std_srvs::TriggerResponse &	resp
	)		`[private]`

Performs a quick stop on all nodes. You should prefer this service call to aborting the followJointTrajectory action, as this will instantaniously stop the robot's movement without resulting in a fault state.

Definition at line 619 of file SchunkCanopenNode.cpp.

void SchunkCanopenNode::rosControlLoop ( ) [private]

When using ros_control this will perform the control loop in a separate thread.

Definition at line 503 of file SchunkCanopenNode.cpp.

void SchunkCanopenNode::trajThread ( actionlib::ServerGoalHandle< control_msgs::FollowJointTrajectoryAction > & gh ) [private]

Control loop thread when not using ros_control.

Definition at line 348 of file SchunkCanopenNode.cpp.