m1013x2_sync.cpp File Reference

#include <ros/ros.h>
#include <signal.h>
#include "dsr_util.h"
#include "dsr_robot.h"

Include dependency graph for m1013x2_sync.cpp:

Go to the source code of this file.

Macros
#define	NUM_ROBOT   6

Functions
int	main (int argc, char **argv)
CRobotSync	RobotSync (NUM_ROBOT)
void	SigHandler (int sig)
void	thread_robot1 (ros::NodeHandle nh)
void	thread_robot2 (ros::NodeHandle nh)
void	thread_robot3 (ros::NodeHandle nh)
void	thread_robot4 (ros::NodeHandle nh)
void	thread_robot5 (ros::NodeHandle nh)
void	thread_robot6 (ros::NodeHandle nh)

Variables
float	J00 [6] = {-180, 0, -145, 0, -35, 0}
float	J01r [6] = {-180.0, 71.4, -145.0, 0.0, -9.7, 0.0}
float	JReady [6] = {0, -20, 110, 0, 60, 0}
string	ROBOT_ID = "dsr01"
string	ROBOT_ID2 = "dsr02"
string	ROBOT_MODEL = "m1013"
string	ROBOT_MODEL2 = "m1013"
float	TCP_POS [6] = {0, 0, 0,0 ,0, 0}

Macro Definition Documentation

#define NUM_ROBOT   6

Definition at line 20 of file m1013x2_sync.cpp.

Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 150 of file m1013x2_sync.cpp.

CRobotSync RobotSync

(

NUM_ROBOT

)

void SigHandler

(

int

sig

)

Definition at line 124 of file m1013x2_sync.cpp.

void thread_robot1

(

ros::NodeHandle

nh

)

Definition at line 36 of file m1013x2_sync.cpp.

void thread_robot2

(

ros::NodeHandle

nh

)

Definition at line 54 of file m1013x2_sync.cpp.

void thread_robot3

(

ros::NodeHandle

nh

)

r.sleep();

Definition at line 73 of file m1013x2_sync.cpp.

void thread_robot4

(

ros::NodeHandle

nh

)

r.sleep();

Definition at line 86 of file m1013x2_sync.cpp.

void thread_robot5

(

ros::NodeHandle

nh

)

r.sleep();

Definition at line 99 of file m1013x2_sync.cpp.

void thread_robot6

(

ros::NodeHandle

nh

)

Definition at line 112 of file m1013x2_sync.cpp.

Variable Documentation

float J00[6] = {-180, 0, -145, 0, -35, 0}

Definition at line 33 of file m1013x2_sync.cpp.

float J01r[6] = {-180.0, 71.4, -145.0, 0.0, -9.7, 0.0}

Definition at line 34 of file m1013x2_sync.cpp.

float JReady[6] = {0, -20, 110, 0, 60, 0}

Definition at line 31 of file m1013x2_sync.cpp.

string ROBOT_ID = "dsr01"

Definition at line 21 of file m1013x2_sync.cpp.

string ROBOT_ID2 = "dsr02"

Definition at line 23 of file m1013x2_sync.cpp.

string ROBOT_MODEL = "m1013"

Definition at line 22 of file m1013x2_sync.cpp.

string ROBOT_MODEL2 = "m1013"

Definition at line 24 of file m1013x2_sync.cpp.

float TCP_POS[6] = {0, 0, 0,0 ,0, 0}

Definition at line 32 of file m1013x2_sync.cpp.