cob_hand_node.cpp File Reference

#include <cob_hand_bridge/InitFinger.h>
#include <cob_hand_bridge/Status.h>
#include <std_srvs/Trigger.h>
#include <sensor_msgs/JointState.h>
#include <control_msgs/FollowJointTrajectoryAction.h>
#include <diagnostic_updater/publisher.h>
#include <actionlib/server/simple_action_server.h>
#include <ros/ros.h>
#include <boost/thread/mutex.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/scoped_ptr.hpp>
#include <angles/angles.h>
#include <gpio.h>
#include <sdhx.h>

Include dependency graph for cob_hand_node.cpp:

Go to the source code of this file.

Typedefs
typedef actionlib::SimpleActionServer< control_msgs::FollowJointTrajectoryAction >	FollowJointTrajectoryActionServer

Functions
void	cancelCB ()
bool	checkAction_nolock (bool deadline_exceeded)
void	goalCB ()
bool	halt ()
bool	haltCallback (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
void	handleDeadline (const ros::TimerEvent &)
bool	init ()
bool	initCallback (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
bool	isFingerReady_nolock ()
int	main (int argc, char *argv[])
bool	recover ()
bool	recoverCallback (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
void	reportDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	resendCommand (const ros::TimerEvent &e)
void	statusCallback (const ros::TimerEvent &e)

Variables
boost::scoped_ptr< FollowJointTrajectoryActionServer >	g_as
cob_hand_bridge::JointValues	g_command
ros::Timer	g_command_timer
bool	g_control_stopped
ros::Timer	g_deadline_timer
cob_hand_bridge::JointValues	g_default_command
control_msgs::FollowJointTrajectoryGoalConstPtr	g_goal
std::vector< double >	g_goal_tolerance
ros::ServiceServer	g_halt_srv
ros::ServiceServer	g_init_srv
bool	g_initialized
sensor_msgs::JointState	g_js
ros::Publisher	g_js_pub
bool	g_motion_stopped
bool	g_motors_moved
boost::mutex	g_mutex
std::string	g_port
ros::ServiceServer	g_recover_srv
boost::scoped_ptr< SDHX >	g_sdhx
boost::shared_ptr< cob_hand_bridge::Status >	g_status
double	g_stopped_current
double	g_stopped_velocity
boost::shared_ptr< diagnostic_updater::TimeStampStatus >	g_topic_status

Typedef Documentation

typedef actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction> FollowJointTrajectoryActionServer

Definition at line 53 of file cob_hand_node.cpp.

Function Documentation

void cancelCB

(

)

Definition at line 396 of file cob_hand_node.cpp.

bool checkAction_nolock

(

bool

deadline_exceeded

)

Definition at line 76 of file cob_hand_node.cpp.

void goalCB

(

)

Definition at line 300 of file cob_hand_node.cpp.

bool halt

(

)

Definition at line 106 of file cob_hand_node.cpp.

bool haltCallback	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

Definition at line 184 of file cob_hand_node.cpp.

void handleDeadline

(

const ros::TimerEvent &

)

Definition at line 288 of file cob_hand_node.cpp.

bool init

(

)

Definition at line 115 of file cob_hand_node.cpp.

bool initCallback	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

Definition at line 152 of file cob_hand_node.cpp.

bool isFingerReady_nolock

(

)

Definition at line 72 of file cob_hand_node.cpp.

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

Definition at line 427 of file cob_hand_node.cpp.

bool recover

(

)

Definition at line 134 of file cob_hand_node.cpp.

bool recoverCallback	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

Definition at line 195 of file cob_hand_node.cpp.

void reportDiagnostics

(

diagnostic_updater::DiagnosticStatusWrapper &

stat

)

Definition at line 263 of file cob_hand_node.cpp.

void resendCommand

(

const ros::TimerEvent &

e

)

Definition at line 406 of file cob_hand_node.cpp.

void statusCallback

(

const ros::TimerEvent &

e

)

Definition at line 206 of file cob_hand_node.cpp.

Variable Documentation

boost::scoped_ptr<FollowJointTrajectoryActionServer> g_as

Definition at line 54 of file cob_hand_node.cpp.

cob_hand_bridge::JointValues g_command

Definition at line 56 of file cob_hand_node.cpp.

ros::Timer g_command_timer

Definition at line 58 of file cob_hand_node.cpp.

bool g_control_stopped

Definition at line 64 of file cob_hand_node.cpp.

ros::Timer g_deadline_timer

Definition at line 59 of file cob_hand_node.cpp.

cob_hand_bridge::JointValues g_default_command

Definition at line 57 of file cob_hand_node.cpp.

control_msgs::FollowJointTrajectoryGoalConstPtr g_goal

Definition at line 55 of file cob_hand_node.cpp.

std::vector<double> g_goal_tolerance

Definition at line 66 of file cob_hand_node.cpp.

ros::ServiceServer g_halt_srv

Definition at line 50 of file cob_hand_node.cpp.

ros::ServiceServer g_init_srv

Definition at line 49 of file cob_hand_node.cpp.

bool g_initialized

Definition at line 62 of file cob_hand_node.cpp.

sensor_msgs::JointState g_js

Definition at line 47 of file cob_hand_node.cpp.

ros::Publisher g_js_pub

Definition at line 46 of file cob_hand_node.cpp.

bool g_motion_stopped

Definition at line 63 of file cob_hand_node.cpp.

bool g_motors_moved

Definition at line 65 of file cob_hand_node.cpp.

boost::mutex g_mutex

Definition at line 41 of file cob_hand_node.cpp.

std::string g_port

Definition at line 67 of file cob_hand_node.cpp.

ros::ServiceServer g_recover_srv

Definition at line 51 of file cob_hand_node.cpp.

boost::scoped_ptr<SDHX> g_sdhx

Definition at line 70 of file cob_hand_node.cpp.

boost::shared_ptr<cob_hand_bridge::Status> g_status

Definition at line 43 of file cob_hand_node.cpp.

double g_stopped_current

Definition at line 61 of file cob_hand_node.cpp.

double g_stopped_velocity

Definition at line 60 of file cob_hand_node.cpp.

boost::shared_ptr<diagnostic_updater::TimeStampStatus> g_topic_status

Definition at line 44 of file cob_hand_node.cpp.