#include <dsr_hw_interface.h>

Inheritance diagram for dsr_control::DRHWInterface:

Classes
struct	Joint

Public Member Functions
	DRHWInterface (ros::NodeHandle &nh)

bool	init ()

int	MsgPublisher_RobotState ()

virtual void	read (ros::Duration &elapsed_time)

virtual void	write (ros::Duration &elapsed_time)

virtual	~DRHWInterface ()

Public Member Functions inherited from hardware_interface::RobotHW
virtual bool	checkForConflict (const std::list< ControllerInfo > &info) const

virtual bool	checkForConflict (const std::list< ControllerInfo > &info) const

virtual void	doSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)

virtual void	doSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)

virtual bool	init (ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh)

virtual bool	prepareSwitch (const std::list< ControllerInfo > &start_list, const std::list< ControllerInfo > &stop_list)

virtual bool	prepareSwitch (const std::list< ControllerInfo > &start_list, const std::list< ControllerInfo > &stop_list)

virtual void	read (const ros::Time &time, const ros::Duration &period)

virtual void	read (const ros::Time &time, const ros::Duration &period)

	RobotHW ()

virtual void	write (const ros::Time &time, const ros::Duration &period)

virtual void	write (const ros::Time &time, const ros::Duration &period)

virtual	~RobotHW ()

Public Member Functions inherited from hardware_interface::InterfaceManager
T *	get ()

std::vector< std::string >	getInterfaceResources (std::string iface_type) const

std::vector< std::string >	getNames () const

void	registerInterface (T *iface)

void	registerInterfaceManager (InterfaceManager *iface_man)

Static Public Member Functions
static void	OnHommingCompletedCB ()
	int MsgPublisher_RobotError(); 현재 미사용 : DRHWInterface::OnLogAlarm 에서 바로 퍼블리싱 함. More...

static void	OnLogAlarm (LPLOG_ALARM pLogAlarm)

static void	OnMonitoringAccessControlCB (const MONITORING_ACCESS_CONTROL eAccCtrl)

static void	OnMonitoringCtrlIOCB (const LPMONITORING_CTRLIO pCtrlIO)

static void	OnMonitoringDataCB (const LPMONITORING_DATA pData)

static void	OnMonitoringModbusCB (const LPMONITORING_MODBUS pModbus)

static void	OnMonitoringStateCB (const ROBOT_STATE eState)

static void	OnProgramStoppedCB (const PROGRAM_STOP_CAUSE iStopCause)

static void	OnTpInitializingCompletedCB ()

Private Member Functions
bool	config_create_modbus_cb (dsr_msgs::ConfigCreateModbus::Request &req, dsr_msgs::ConfigCreateModbus::Response &res)

bool	config_create_tcp_cb (dsr_msgs::ConfigCreateTcp::Request &req, dsr_msgs::ConfigCreateTcp::Response &res)

bool	config_create_tool_cb (dsr_msgs::ConfigCreateTool::Request &req, dsr_msgs::ConfigCreateTool::Response &res)

bool	config_delete_modbus_cb (dsr_msgs::ConfigDeleteModbus::Request &req, dsr_msgs::ConfigDeleteModbus::Response &res)

bool	config_delete_tcp_cb (dsr_msgs::ConfigDeleteTcp::Request &req, dsr_msgs::ConfigDeleteTcp::Response &res)

bool	config_delete_tool_cb (dsr_msgs::ConfigDeleteTool::Request &req, dsr_msgs::ConfigDeleteTool::Response &res)

bool	drl_pause_cb (dsr_msgs::DrlPause::Request &req, dsr_msgs::DrlPause::Response &res)

bool	drl_resume_cb (dsr_msgs::DrlResume::Request &req, dsr_msgs::DrlResume::Response &res)

bool	drl_start_cb (dsr_msgs::DrlStart::Request &req, dsr_msgs::DrlStart::Response &res)

bool	drl_stop_cb (dsr_msgs::DrlStop::Request &req, dsr_msgs::DrlStop::Response &res)

bool	get_analog_input_cb (dsr_msgs::GetCtrlBoxAnalogInput::Request &req, dsr_msgs::GetCtrlBoxAnalogInput::Response &res)

bool	get_current_tcp_cb (dsr_msgs::GetCurrentTcp::Request &req, dsr_msgs::GetCurrentTcp::Response &res)

bool	get_current_tool_cb (dsr_msgs::GetCurrentTool::Request &req, dsr_msgs::GetCurrentTool::Response &res)

bool	get_digital_input_cb (dsr_msgs::GetCtrlBoxDigitalInput::Request &req, dsr_msgs::GetCtrlBoxDigitalInput::Response &res)

bool	get_drl_state_cb (dsr_msgs::GetDrlState::Request &req, dsr_msgs::GetDrlState::Response &res)

bool	get_modbus_input_cb (dsr_msgs::GetModbusInput::Request &req, dsr_msgs::GetModbusInput::Response &res)

bool	get_robot_mode_cb (dsr_msgs::GetRobotMode::Request &req, dsr_msgs::GetRobotMode::Response &res)

bool	get_tool_digital_input_cb (dsr_msgs::GetToolDigitalInput::Request &req, dsr_msgs::GetToolDigitalInput::Response &res)

bool	moveb_cb (dsr_msgs::MoveBlending::Request &req, dsr_msgs::MoveBlending::Response &res)

bool	movec_cb (dsr_msgs::MoveCircle::Request &req, dsr_msgs::MoveCircle::Response &res)

bool	movej_cb (dsr_msgs::MoveJoint::Request &req, dsr_msgs::MoveJoint::Response &res)

bool	movejx_cb (dsr_msgs::MoveJointx::Request &req, dsr_msgs::MoveJointx::Response &res)

bool	movel_cb (dsr_msgs::MoveLine::Request &req, dsr_msgs::MoveLine::Response &res)

bool	moveperiodic_cb (dsr_msgs::MovePeriodic::Request &req, dsr_msgs::MovePeriodic::Response &res)

bool	movesj_cb (dsr_msgs::MoveSplineJoint::Request &req, dsr_msgs::MoveSplineJoint::Response &res)

bool	movespiral_cb (dsr_msgs::MoveSpiral::Request &req, dsr_msgs::MoveSpiral::Response &res)

bool	movesx_cb (dsr_msgs::MoveSplineTask::Request &req, dsr_msgs::MoveSplineTask::Response &res)

bool	movewait_cb (dsr_msgs::MoveWait::Request &req, dsr_msgs::MoveWait::Response &res)

void	positionCallback (const std_msgs::Float64MultiArray::ConstPtr &msg)

bool	robotiq_2f_close_cb (dsr_msgs::Robotiq2FClose::Request &req, dsr_msgs::Robotiq2FClose::Response &res)

bool	robotiq_2f_move_cb (dsr_msgs::Robotiq2FMove::Request &req, dsr_msgs::Robotiq2FMove::Response &res)

bool	robotiq_2f_open_cb (dsr_msgs::Robotiq2FOpen::Request &req, dsr_msgs::Robotiq2FOpen::Response &res)

bool	serial_send_data_cb (dsr_msgs::SerialSendData::Request &req, dsr_msgs::SerialSendData::Response &res)

bool	set_analog_input_type_cb (dsr_msgs::SetCtrlBoxAnalogInputType::Request &req, dsr_msgs::SetCtrlBoxAnalogInputType::Response &res)

bool	set_analog_output_cb (dsr_msgs::SetCtrlBoxAnalogOutput::Request &req, dsr_msgs::SetCtrlBoxAnalogOutput::Response &res)

bool	set_analog_output_type_cb (dsr_msgs::SetCtrlBoxAnalogOutputType::Request &req, dsr_msgs::SetCtrlBoxAnalogOutputType::Response &res)

bool	set_current_tcp_cb (dsr_msgs::SetCurrentTcp::Request &req, dsr_msgs::SetCurrentTcp::Response &res)

bool	set_current_tool_cb (dsr_msgs::SetCurrentTool::Request &req, dsr_msgs::SetCurrentTool::Response &res)

bool	set_digital_output_cb (dsr_msgs::SetCtrlBoxDigitalOutput::Request &req, dsr_msgs::SetCtrlBoxDigitalOutput::Response &res)

bool	set_modbus_output_cb (dsr_msgs::SetModbusOutput::Request &req, dsr_msgs::SetModbusOutput::Response &res)

bool	set_robot_mode_cb (dsr_msgs::SetRobotMode::Request &req, dsr_msgs::SetRobotMode::Response &res)

bool	set_tool_digital_output_cb (dsr_msgs::SetToolDigitalOutput::Request &req, dsr_msgs::SetToolDigitalOutput::Response &res)

void	sigint_handler (int signo)

void	trajectoryCallback (const control_msgs::FollowJointTrajectoryActionGoal::ConstPtr &msg)

Static Private Member Functions
static void	thread_publisher (DRHWInterface *pDRHWInterface, ros::NodeHandle nh, int nPubRate)

static void	thread_subscribe (ros::NodeHandle nh)

Private Attributes
bool	bCommand_

std::array< float, NUM_JOINT >	cmd_

hardware_interface::PositionJointInterface	jnt_pos_interface

hardware_interface::JointStateInterface	jnt_state_interface

struct dsr_control::DRHWInterface::Joint	joints [NUM_JOINT]

ros::ServiceServer	m_nh_drl_service [10]

ros::ServiceServer	m_nh_gripper_service [10]

ros::ServiceServer	m_nh_io_service [8]

ros::ServiceServer	m_nh_modbus_service [4]

ros::ServiceServer	m_nh_move_service [10]

ros::ServiceServer	m_nh_serial_service [4]

ros::ServiceServer	m_nh_system [4]

ros::ServiceServer	m_nh_tcp_service [4]

ros::ServiceServer	m_nh_tool_service [4]

ros::Publisher	m_PubRobotError

ros::Publisher	m_PubRobotState

ros::Publisher	m_PubSerialWrite

ros::Publisher	m_PubtoGazebo

DR_ERROR	m_stDrError

DR_STATE	m_stDrState

std::string	m_strRobotGripper

std::string	m_strRobotModel

std::string	m_strRobotName

ros::Subscriber	m_sub_joint_position

ros::Subscriber	m_sub_joint_trajectory

ros::Subscriber	m_SubSerialRead

boost::thread	m_th_publisher

boost::thread	m_th_subscribe

ros::NodeHandle	private_nh_

hardware_interface::VelocityJointInterface	velocity_joint_interface_

Additional Inherited Members
Protected Types inherited from hardware_interface::InterfaceManager
typedef std::vector< InterfaceManager * >	InterfaceManagerVector

typedef std::map< std::string, void * >	InterfaceMap

typedef std::map< std::string, std::vector< std::string > >	ResourceMap

typedef std::map< std::string, size_t >	SizeMap

Protected Attributes inherited from hardware_interface::InterfaceManager
boost::ptr_vector< ResourceManagerBase >	interface_destruction_list_

InterfaceManagerVector	interface_managers_

InterfaceMap	interfaces_

InterfaceMap	interfaces_combo_

SizeMap	num_ifaces_registered_

ResourceMap	resources_

Detailed Description

Definition at line 198 of file dsr_hw_interface.h.

Constructor & Destructor Documentation

dsr_control::DRHWInterface::DRHWInterface ( ros::NodeHandle & nh )

Definition at line 465 of file dsr_hw_interface.cpp.

dsr_control::DRHWInterface::~DRHWInterface ( )

virtual

Definition at line 600 of file dsr_hw_interface.cpp.

Member Function Documentation

bool dsr_control::DRHWInterface::config_create_modbus_cb	(	dsr_msgs::ConfigCreateModbus::Request &	req,
		dsr_msgs::ConfigCreateModbus::Response &	res
	)

private

Definition at line 1049 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::config_create_tcp_cb	(	dsr_msgs::ConfigCreateTcp::Request &	req,
		dsr_msgs::ConfigCreateTcp::Response &	res
	)

private

Definition at line 1093 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::config_create_tool_cb	(	dsr_msgs::ConfigCreateTool::Request &	req,
		dsr_msgs::ConfigCreateTool::Response &	res
	)

private

Definition at line 1115 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::config_delete_modbus_cb	(	dsr_msgs::ConfigDeleteModbus::Request &	req,
		dsr_msgs::ConfigDeleteModbus::Response &	res
	)

private

Definition at line 1054 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::config_delete_tcp_cb	(	dsr_msgs::ConfigDeleteTcp::Request &	req,
		dsr_msgs::ConfigDeleteTcp::Response &	res
	)

private

Definition at line 1100 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::config_delete_tool_cb	(	dsr_msgs::ConfigDeleteTool::Request &	req,
		dsr_msgs::ConfigDeleteTool::Response &	res
	)

private

Definition at line 1124 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::drl_pause_cb	(	dsr_msgs::DrlPause::Request &	req,
		dsr_msgs::DrlPause::Response &	res
	)

private

Definition at line 1059 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::drl_resume_cb	(	dsr_msgs::DrlResume::Request &	req,
		dsr_msgs::DrlResume::Response &	res
	)

private

Definition at line 1074 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::drl_start_cb	(	dsr_msgs::DrlStart::Request &	req,
		dsr_msgs::DrlStart::Response &	res
	)

private

Definition at line 1064 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::drl_stop_cb	(	dsr_msgs::DrlStop::Request &	req,
		dsr_msgs::DrlStop::Response &	res
	)

private

Definition at line 1069 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::get_analog_input_cb	(	dsr_msgs::GetCtrlBoxAnalogInput::Request &	req,
		dsr_msgs::GetCtrlBoxAnalogInput::Response &	res
	)

private

Definition at line 1024 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::get_current_tcp_cb	(	dsr_msgs::GetCurrentTcp::Request &	req,
		dsr_msgs::GetCurrentTcp::Response &	res
	)

private

Definition at line 1088 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::get_current_tool_cb	(	dsr_msgs::GetCurrentTool::Request &	req,
		dsr_msgs::GetCurrentTool::Response &	res
	)

private

Definition at line 1110 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::get_digital_input_cb	(	dsr_msgs::GetCtrlBoxDigitalInput::Request &	req,
		dsr_msgs::GetCtrlBoxDigitalInput::Response &	res
	)

private

Definition at line 1004 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::get_drl_state_cb	(	dsr_msgs::GetDrlState::Request &	req,
		dsr_msgs::GetDrlState::Response &	res
	)

private

Definition at line 1079 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::get_modbus_input_cb	(	dsr_msgs::GetModbusInput::Request &	req,
		dsr_msgs::GetModbusInput::Response &	res
	)

private

Definition at line 1044 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::get_robot_mode_cb	(	dsr_msgs::GetRobotMode::Request &	req,
		dsr_msgs::GetRobotMode::Response &	res
	)

private

Definition at line 801 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::get_tool_digital_input_cb	(	dsr_msgs::GetToolDigitalInput::Request &	req,
		dsr_msgs::GetToolDigitalInput::Response &	res
	)

private

Definition at line 1014 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::init ( )

Definition at line 613 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::moveb_cb	(	dsr_msgs::MoveBlending::Request &	req,
		dsr_msgs::MoveBlending::Response &	res
	)

private

Definition at line 919 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::movec_cb	(	dsr_msgs::MoveCircle::Request &	req,
		dsr_msgs::MoveCircle::Response &	res
	)

private

ROS_INFO(" <xxx pos1> %7.3f %7.3f %7.3f %7.3f %7.3f %7.3f",fTargetPos[0][0],fTargetPos[0][1],fTargetPos[0][2],fTargetPos[0][3],fTargetPos[0][4],fTargetPos[0][5]); ROS_INFO(" <xxx pos2> %7.3f %7.3f %7.3f %7.3f %7.3f %7.3f",fTargetPos[1][0],fTargetPos[1][1],fTargetPos[1][2],fTargetPos[1][3],fTargetPos[1][4],fTargetPos[1][5]);

Definition at line 849 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::movej_cb	(	dsr_msgs::MoveJoint::Request &	req,
		dsr_msgs::MoveJoint::Response &	res
	)

private

Definition at line 805 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::movejx_cb	(	dsr_msgs::MoveJointx::Request &	req,
		dsr_msgs::MoveJointx::Response &	res
	)

private

Definition at line 836 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::movel_cb	(	dsr_msgs::MoveLine::Request &	req,
		dsr_msgs::MoveLine::Response &	res
	)

private

Definition at line 818 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::moveperiodic_cb	(	dsr_msgs::MovePeriodic::Request &	req,
		dsr_msgs::MovePeriodic::Response &	res
	)

private

Definition at line 977 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::movesj_cb	(	dsr_msgs::MoveSplineJoint::Request &	req,
		dsr_msgs::MoveSplineJoint::Response &	res
	)

private

Definition at line 873 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::movespiral_cb	(	dsr_msgs::MoveSpiral::Request &	req,
		dsr_msgs::MoveSpiral::Response &	res
	)

private

Definition at line 961 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::movesx_cb	(	dsr_msgs::MoveSplineTask::Request &	req,
		dsr_msgs::MoveSplineTask::Response &	res
	)

private

Definition at line 892 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::movewait_cb	(	dsr_msgs::MoveWait::Request &	req,
		dsr_msgs::MoveWait::Response &	res
	)

private

Definition at line 993 of file dsr_hw_interface.cpp.

int dsr_control::DRHWInterface::MsgPublisher_RobotState ( )

printf("[%s,%s] msg.robot_state_str =%s m_stDrState.strRobotState=%s\n",m_strRobotName.c_str(),m_strRobotModel.c_str(),msg.robot_state_str.c_str(),m_stDrState.strRobotState);

Definition at line 345 of file dsr_hw_interface.cpp.

void dsr_control::DRHWInterface::OnHommingCompletedCB ( )

static

int MsgPublisher_RobotError(); 현재 미사용 : DRHWInterface::OnLogAlarm 에서 바로 퍼블리싱 함.

Definition at line 86 of file dsr_hw_interface.cpp.

void dsr_control::DRHWInterface::OnLogAlarm ( LPLOG_ALARM pLogAlarm )

static

Definition at line 300 of file dsr_hw_interface.cpp.

void dsr_control::DRHWInterface::OnMonitoringAccessControlCB ( const MONITORING_ACCESS_CONTROL eAccCtrl )

static

Definition at line 268 of file dsr_hw_interface.cpp.

void dsr_control::DRHWInterface::OnMonitoringCtrlIOCB ( const LPMONITORING_CTRLIO pCtrlIO )

static

Definition at line 101 of file dsr_hw_interface.cpp.

void dsr_control::DRHWInterface::OnMonitoringDataCB ( const LPMONITORING_DATA pData )

static

Definition at line 121 of file dsr_hw_interface.cpp.

void dsr_control::DRHWInterface::OnMonitoringModbusCB ( const LPMONITORING_MODBUS pModbus )

static

Definition at line 111 of file dsr_hw_interface.cpp.

void dsr_control::DRHWInterface::OnMonitoringStateCB ( const ROBOT_STATE eState )

static

Definition at line 213 of file dsr_hw_interface.cpp.

void dsr_control::DRHWInterface::OnProgramStoppedCB ( const PROGRAM_STOP_CAUSE iStopCause )

static

Definition at line 95 of file dsr_hw_interface.cpp.

void dsr_control::DRHWInterface::OnTpInitializingCompletedCB ( )

static

Definition at line 75 of file dsr_hw_interface.cpp.

void dsr_control::DRHWInterface::positionCallback ( const std_msgs::Float64MultiArray::ConstPtr & msg )

private

Definition at line 727 of file dsr_hw_interface.cpp.

void dsr_control::DRHWInterface::read ( ros::Duration & elapsed_time )

virtual

Definition at line 674 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::robotiq_2f_close_cb	(	dsr_msgs::Robotiq2FClose::Request &	req,
		dsr_msgs::Robotiq2FClose::Response &	res
	)

private

Definition at line 1172 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::robotiq_2f_move_cb	(	dsr_msgs::Robotiq2FMove::Request &	req,
		dsr_msgs::Robotiq2FMove::Response &	res
	)

private

Definition at line 1132 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::robotiq_2f_open_cb	(	dsr_msgs::Robotiq2FOpen::Request &	req,
		dsr_msgs::Robotiq2FOpen::Response &	res
	)

private

Definition at line 1158 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::serial_send_data_cb	(	dsr_msgs::SerialSendData::Request &	req,
		dsr_msgs::SerialSendData::Response &	res
	)

private

Definition at line 1187 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::set_analog_input_type_cb	(	dsr_msgs::SetCtrlBoxAnalogInputType::Request &	req,
		dsr_msgs::SetCtrlBoxAnalogInputType::Response &	res
	)

private

Definition at line 1034 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::set_analog_output_cb	(	dsr_msgs::SetCtrlBoxAnalogOutput::Request &	req,
		dsr_msgs::SetCtrlBoxAnalogOutput::Response &	res
	)

private

Definition at line 1019 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::set_analog_output_type_cb	(	dsr_msgs::SetCtrlBoxAnalogOutputType::Request &	req,
		dsr_msgs::SetCtrlBoxAnalogOutputType::Response &	res
	)

private

Definition at line 1029 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::set_current_tcp_cb	(	dsr_msgs::SetCurrentTcp::Request &	req,
		dsr_msgs::SetCurrentTcp::Response &	res
	)

private

Definition at line 1083 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::set_current_tool_cb	(	dsr_msgs::SetCurrentTool::Request &	req,
		dsr_msgs::SetCurrentTool::Response &	res
	)

private

Definition at line 1105 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::set_digital_output_cb	(	dsr_msgs::SetCtrlBoxDigitalOutput::Request &	req,
		dsr_msgs::SetCtrlBoxDigitalOutput::Response &	res
	)

private

Definition at line 999 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::set_modbus_output_cb	(	dsr_msgs::SetModbusOutput::Request &	req,
		dsr_msgs::SetModbusOutput::Response &	res
	)

private

Definition at line 1039 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::set_robot_mode_cb	(	dsr_msgs::SetRobotMode::Request &	req,
		dsr_msgs::SetRobotMode::Response &	res
	)

private

Definition at line 797 of file dsr_hw_interface.cpp.

bool dsr_control::DRHWInterface::set_tool_digital_output_cb	(	dsr_msgs::SetToolDigitalOutput::Request &	req,
		dsr_msgs::SetToolDigitalOutput::Response &	res
	)

private

Definition at line 1009 of file dsr_hw_interface.cpp.

void dsr_control::DRHWInterface::sigint_handler ( int signo )

private

Definition at line 721 of file dsr_hw_interface.cpp.

void dsr_control::DRHWInterface::thread_publisher	(	DRHWInterface *	pDRHWInterface,
		ros::NodeHandle	nh,
		int	nPubRate
	)

staticprivate

Definition at line 450 of file dsr_hw_interface.cpp.

void dsr_control::DRHWInterface::thread_subscribe ( ros::NodeHandle nh )

staticprivate

Definition at line 441 of file dsr_hw_interface.cpp.

void dsr_control::DRHWInterface::trajectoryCallback ( const control_msgs::FollowJointTrajectoryActionGoal::ConstPtr & msg )

private

ROS_INFO("[trajectory] preTargetTime: %7.3f", preTargetTime); targetTime = targetTime - preTargetTime; preTargetTime = targetTime; ROS_INFO("[trajectory] time_from_start: %7.3f", targetTime);

Definition at line 734 of file dsr_hw_interface.cpp.

void dsr_control::DRHWInterface::write ( ros::Duration & elapsed_time )

virtual

Definition at line 690 of file dsr_hw_interface.cpp.

Member Data Documentation

bool dsr_control::DRHWInterface::bCommand_

private

Definition at line 256 of file dsr_hw_interface.h.

std::array<float, NUM_JOINT> dsr_control::DRHWInterface::cmd_

private

Definition at line 255 of file dsr_hw_interface.h.

hardware_interface::PositionJointInterface dsr_control::DRHWInterface::jnt_pos_interface

private

Definition at line 252 of file dsr_hw_interface.h.

hardware_interface::JointStateInterface dsr_control::DRHWInterface::jnt_state_interface

private

Definition at line 251 of file dsr_hw_interface.h.

struct dsr_control::DRHWInterface::Joint dsr_control::DRHWInterface::joints[NUM_JOINT]

private

ros::ServiceServer dsr_control::DRHWInterface::m_nh_drl_service[10]

private

Definition at line 233 of file dsr_hw_interface.h.

ros::ServiceServer dsr_control::DRHWInterface::m_nh_gripper_service[10]

private

Definition at line 236 of file dsr_hw_interface.h.

ros::ServiceServer dsr_control::DRHWInterface::m_nh_io_service[8]

private

Definition at line 231 of file dsr_hw_interface.h.

ros::ServiceServer dsr_control::DRHWInterface::m_nh_modbus_service[4]

private

Definition at line 232 of file dsr_hw_interface.h.

ros::ServiceServer dsr_control::DRHWInterface::m_nh_move_service[10]

private

Definition at line 230 of file dsr_hw_interface.h.

ros::ServiceServer dsr_control::DRHWInterface::m_nh_serial_service[4]

private

Definition at line 237 of file dsr_hw_interface.h.

ros::ServiceServer dsr_control::DRHWInterface::m_nh_system[4]

private

Definition at line 229 of file dsr_hw_interface.h.

ros::ServiceServer dsr_control::DRHWInterface::m_nh_tcp_service[4]

private

Definition at line 234 of file dsr_hw_interface.h.

ros::ServiceServer dsr_control::DRHWInterface::m_nh_tool_service[4]

private

Definition at line 235 of file dsr_hw_interface.h.

ros::Publisher dsr_control::DRHWInterface::m_PubRobotError

private

Definition at line 241 of file dsr_hw_interface.h.

ros::Publisher dsr_control::DRHWInterface::m_PubRobotState

private

Definition at line 240 of file dsr_hw_interface.h.

ros::Publisher dsr_control::DRHWInterface::m_PubSerialWrite

private

Definition at line 243 of file dsr_hw_interface.h.

ros::Publisher dsr_control::DRHWInterface::m_PubtoGazebo

private

Definition at line 242 of file dsr_hw_interface.h.

DR_ERROR dsr_control::DRHWInterface::m_stDrError

private

Definition at line 277 of file dsr_hw_interface.h.

DR_STATE dsr_control::DRHWInterface::m_stDrState

private

Definition at line 276 of file dsr_hw_interface.h.

std::string dsr_control::DRHWInterface::m_strRobotGripper

private

Definition at line 226 of file dsr_hw_interface.h.

std::string dsr_control::DRHWInterface::m_strRobotModel

private

Definition at line 225 of file dsr_hw_interface.h.

std::string dsr_control::DRHWInterface::m_strRobotName

private

Definition at line 224 of file dsr_hw_interface.h.

ros::Subscriber dsr_control::DRHWInterface::m_sub_joint_position

private

Definition at line 247 of file dsr_hw_interface.h.

ros::Subscriber dsr_control::DRHWInterface::m_sub_joint_trajectory

private

Definition at line 246 of file dsr_hw_interface.h.

ros::Subscriber dsr_control::DRHWInterface::m_SubSerialRead

private

Definition at line 248 of file dsr_hw_interface.h.

boost::thread dsr_control::DRHWInterface::m_th_publisher

private

Definition at line 272 of file dsr_hw_interface.h.

boost::thread dsr_control::DRHWInterface::m_th_subscribe

private

Definition at line 271 of file dsr_hw_interface.h.

ros::NodeHandle dsr_control::DRHWInterface::private_nh_

private

Definition at line 222 of file dsr_hw_interface.h.

hardware_interface::VelocityJointInterface dsr_control::DRHWInterface::velocity_joint_interface_

private

Definition at line 253 of file dsr_hw_interface.h.

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

Classes

Public Member Functions

Static Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation