Classes | |
struct | ParamType |
Public Member Functions | |
bool | initDrives () |
NodeClass () | |
void | publish_globalDiagnostics (const ros::TimerEvent &event) |
bool | publish_JointStates () |
bool | srvCallback_ElmoRecorderConfig (cob_base_drive_chain::ElmoRecorderConfig::Request &req, cob_base_drive_chain::ElmoRecorderConfig::Response &res) |
bool | srvCallback_ElmoRecorderReadout (cob_base_drive_chain::ElmoRecorderReadout::Request &req, cob_base_drive_chain::ElmoRecorderReadout::Response &res) |
bool | srvCallback_Init (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res) |
bool | srvCallback_Recover (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res) |
bool | srvCallback_Shutdown (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res) |
void | topicCallback_JointStateCmd (const control_msgs::JointTrajectoryControllerState::ConstPtr &msg) |
~NodeClass () | |
This node provides control of the care-o-bot platform drives to the ROS-"network". For this purpose it offers several services and publishes data on different topics.
Definition at line 51 of file cob_base_drive_chain.cpp.
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Parameters are set within the launch file
Definition at line 163 of file cob_base_drive_chain.cpp.
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Definition at line 243 of file cob_base_drive_chain.cpp.
bool NodeClass::initDrives | ( | ) |
Definition at line 820 of file cob_base_drive_chain.cpp.
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Definition at line 694 of file cob_base_drive_chain.cpp.
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Definition at line 516 of file cob_base_drive_chain.cpp.
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Definition at line 431 of file cob_base_drive_chain.cpp.
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Definition at line 447 of file cob_base_drive_chain.cpp.
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Definition at line 402 of file cob_base_drive_chain.cpp.
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Definition at line 470 of file cob_base_drive_chain.cpp.
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Definition at line 498 of file cob_base_drive_chain.cpp.
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Definition at line 254 of file cob_base_drive_chain.cpp.
ros::Timer NodeClass::glDiagnostics_timer |
Timer to publish global diagnostic messages
Definition at line 75 of file cob_base_drive_chain.cpp.
bool NodeClass::m_bisInitialized |
Definition at line 145 of file cob_base_drive_chain.cpp.
bool NodeClass::m_bPubEffort |
Definition at line 159 of file cob_base_drive_chain.cpp.
bool NodeClass::m_bReadoutElmo |
Definition at line 160 of file cob_base_drive_chain.cpp.
CanCtrlPltfCOb3* NodeClass::m_CanCtrlPltf |
Definition at line 143 of file cob_base_drive_chain.cpp.
int NodeClass::m_iNumDrives |
Definition at line 147 of file cob_base_drive_chain.cpp.
int NodeClass::m_iNumMotors |
Definition at line 146 of file cob_base_drive_chain.cpp.
ParamType NodeClass::m_Param |
Definition at line 156 of file cob_base_drive_chain.cpp.
ros::NodeHandle NodeClass::n |
Definition at line 55 of file cob_base_drive_chain.cpp.
std::string NodeClass::sIniDirectory |
Definition at line 158 of file cob_base_drive_chain.cpp.
ros::ServiceServer NodeClass::srvServer_ElmoRecorderConfig |
Service requests cob_base_drive_chain::ElmoRecorderSetup. It is used to configure the Elmo Recorder to record predefined sources. Parameters are: int64 recordinggap #Specify every which time quantum (4*90usec) a new data point (of 1024 points in total) is recorded. the recording process starts immediately.
Definition at line 106 of file cob_base_drive_chain.cpp.
ros::ServiceServer NodeClass::srvServer_ElmoRecorderReadout |
Service requests cob_base_drive_chain::ElmoRecorderGet. It is used to start the read-out process of previously recorded data by the Elmo Recorder. Parameters are: int64 subindex #As Subindex, set the recorded source you want to read out: #1: Main Speed #2: Main Position #10: ActiveCurrent #16: Speed Command
string fileprefix #Enter the path+file-prefix for the logfile (of an existing directory!) #The file-prefix is extended with _MotorNumber_RecordedSource.log
Definition at line 122 of file cob_base_drive_chain.cpp.
ros::ServiceServer NodeClass::srvServer_Init |
Service requests std_srvs::Trigger and initializes platform and motors
Definition at line 87 of file cob_base_drive_chain.cpp.
ros::ServiceServer NodeClass::srvServer_Recover |
Service requests std_srvs::Trigger and resets platform and motors
Definition at line 92 of file cob_base_drive_chain.cpp.
ros::ServiceServer NodeClass::srvServer_SetMotionType |
Definition at line 99 of file cob_base_drive_chain.cpp.
ros::ServiceServer NodeClass::srvServer_Shutdown |
Service requests std_srvs::Trigger and shuts down platform and motors
Definition at line 97 of file cob_base_drive_chain.cpp.
ros::Publisher NodeClass::topicPub_ControllerState |
Definition at line 63 of file cob_base_drive_chain.cpp.
ros::Publisher NodeClass::topicPub_Diagnostic |
On this topic "Diagnostic" of type diagnostic_msgs::DiagnosticStatus the node publishes states and error information about the platform.
Definition at line 70 of file cob_base_drive_chain.cpp.
ros::Publisher NodeClass::topicPub_DiagnosticGlobal_ |
Definition at line 64 of file cob_base_drive_chain.cpp.
ros::Publisher NodeClass::topicPub_JointState |
On this topic "JointState" of type sensor_msgs::JointState the node publishes joint states
Definition at line 61 of file cob_base_drive_chain.cpp.
ros::Subscriber NodeClass::topicSub_JointStateCmd |
The node subscribes to the topic "JointStateCmd" and performs the requested motor commands
Definition at line 81 of file cob_base_drive_chain.cpp.