RicboardPub Class Reference

#include <ricboard_pub.h>

Public Member Functions
void	read (const ros::Duration elapsed)
void	registerHandles (hardware_interface::JointStateInterface &joint_state_interface, hardware_interface::EffortJointInterface &position_interface)
	RicboardPub (ros::NodeHandle &nh)
void	startLoop ()
void	stopLoop ()
void	write (const ros::Duration elapsed)

Private Member Functions
void	loop ()
void	pubTimerCB (const ros::TimerEvent &event)
void	ricDeadTimerCB (const ros::TimerEvent &event)
void	speakMsg (std::string msg, int sleep_time)

Private Attributes
ros::Publisher	espeak_pub_
std::vector< hardware_interface::JointStateHandle >	joint_state_handles_
bool	load_ric_hw_ = true
ros::NodeHandle *	nh_
std::vector< hardware_interface::JointHandle >	pos_handles_
ric_interface::RicInterface	ric_
ros::Timer	ric_dead_timer_
int	ric_disconnections_counter_ = 0
ros::Publisher	ric_gps_pub_
ros::Publisher	ric_imu_pub_
std::string	ric_port_
ros::Timer	ric_pub_timer_
ros::Publisher	ric_ultrasonic_pub_
boost::thread *	t
torso_joint	torso_
LowPassFilter	torso_lpf_

Detailed Description

Definition at line 41 of file ricboard_pub.h.

Constructor & Destructor Documentation

RicboardPub::RicboardPub

(

ros::NodeHandle &

nh

)

Definition at line 4 of file ricboard_pub.cpp.

Member Function Documentation

void RicboardPub::loop ( )

private

Definition at line 70 of file ricboard_pub.cpp.

void RicboardPub::pubTimerCB ( const ros::TimerEvent &  event )

private

Definition at line 113 of file ricboard_pub.cpp.

void RicboardPub::read

(

const ros::Duration

elapsed

)

Definition at line 203 of file ricboard_pub.cpp.

void RicboardPub::registerHandles	(	hardware_interface::JointStateInterface &	joint_state_interface,
		hardware_interface::EffortJointInterface &	position_interface
	)

Definition at line 167 of file ricboard_pub.cpp.

void RicboardPub::ricDeadTimerCB ( const ros::TimerEvent &  event )

private

Definition at line 99 of file ricboard_pub.cpp.

void RicboardPub::speakMsg ( std::string  msg, int  sleep_time  )

inlineprivate

Definition at line 69 of file ricboard_pub.h.

void RicboardPub::startLoop

(

)

Definition at line 56 of file ricboard_pub.cpp.

void RicboardPub::stopLoop

(

)

Definition at line 63 of file ricboard_pub.cpp.

void RicboardPub::write

(

const ros::Duration

elapsed

)

Definition at line 186 of file ricboard_pub.cpp.

Member Data Documentation

ros::Publisher RicboardPub::espeak_pub_

private

Definition at line 60 of file ricboard_pub.h.

std::vector<hardware_interface::JointStateHandle> RicboardPub::joint_state_handles_

private

Definition at line 63 of file ricboard_pub.h.

bool RicboardPub::load_ric_hw_ = true

private

Definition at line 45 of file ricboard_pub.h.

ros::NodeHandle* RicboardPub::nh_

private

Definition at line 57 of file ricboard_pub.h.

std::vector<hardware_interface::JointHandle> RicboardPub::pos_handles_

private

Definition at line 64 of file ricboard_pub.h.

ric_interface::RicInterface RicboardPub::ric_

private

Definition at line 56 of file ricboard_pub.h.

ros::Timer RicboardPub::ric_dead_timer_

private

Definition at line 52 of file ricboard_pub.h.

int RicboardPub::ric_disconnections_counter_ = 0

private

Definition at line 46 of file ricboard_pub.h.

ros::Publisher RicboardPub::ric_gps_pub_

private

Definition at line 48 of file ricboard_pub.h.

ros::Publisher RicboardPub::ric_imu_pub_

private

Definition at line 50 of file ricboard_pub.h.

std::string RicboardPub::ric_port_

private

Definition at line 47 of file ricboard_pub.h.

ros::Timer RicboardPub::ric_pub_timer_

private

Definition at line 52 of file ricboard_pub.h.

ros::Publisher RicboardPub::ric_ultrasonic_pub_

private

Definition at line 49 of file ricboard_pub.h.

boost::thread* RicboardPub::t

private

Definition at line 58 of file ricboard_pub.h.

torso_joint RicboardPub::torso_

private

Definition at line 54 of file ricboard_pub.h.

LowPassFilter RicboardPub::torso_lpf_

private

Definition at line 55 of file ricboard_pub.h.

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

• ricboard_pub.h
• ricboard_pub.cpp