DynamixelController Class Reference

#include <dynamixel_workbench_controllers.h>

Public Member Functions
void	commandVelocityCallback (const geometry_msgs::Twist::ConstPtr &msg)
bool	dynamixelCommandMsgCallback (dynamixel_workbench_msgs::DynamixelCommand::Request &req, dynamixel_workbench_msgs::DynamixelCommand::Response &res)
	DynamixelController ()
bool	getDynamixelsInfo (const std::string yaml_file)
bool	getPresentPosition (std::vector< std::string > dxl_name)
double	getPublishPeriod ()
double	getReadPeriod ()
double	getWritePeriod ()
bool	initControlItems (void)
bool	initDynamixels (void)
void	initPublisher (void)
bool	initSDKHandlers (void)
void	initServer ()
void	initSubscriber (void)
bool	initWorkbench (const std::string port_name, const uint32_t baud_rate)
bool	loadDynamixels (void)
void	publishCallback (const ros::TimerEvent &)
void	readCallback (const ros::TimerEvent &)
void	trajectoryMsgCallback (const trajectory_msgs::JointTrajectory::ConstPtr &msg)
void	writeCallback (const ros::TimerEvent &)
	~DynamixelController ()

Private Attributes
ros::Subscriber	cmd_vel_sub_
std::map< std::string, const ControlItem * >	control_items_
DynamixelWorkbench *	dxl_wb_
std::map< std::string, uint32_t >	dynamixel_
ros::ServiceServer	dynamixel_command_server_
std::vector< std::pair< std::string, ItemValue > >	dynamixel_info_
dynamixel_workbench_msgs::DynamixelStateList	dynamixel_state_list_
ros::Publisher	dynamixel_state_list_pub_
bool	is_cmd_vel_topic_
bool	is_joint_state_topic_
bool	is_moving_
JointTrajectory *	jnt_tra_
trajectory_msgs::JointTrajectory *	jnt_tra_msg_
sensor_msgs::JointState	joint_state_msg_
ros::Publisher	joint_states_pub_
ros::NodeHandle	node_handle_
std::vector< WayPoint >	pre_goal_
ros::NodeHandle	priv_node_handle_
double	pub_period_
double	read_period_
ros::Subscriber	trajectory_sub_
bool	use_moveit_
double	wheel_radius_
double	wheel_separation_
double	write_period_

Detailed Description

Definition at line 52 of file dynamixel_workbench_controllers.h.

Constructor & Destructor Documentation

DynamixelController::DynamixelController

(

)

Definition at line 21 of file dynamixel_workbench_controllers.cpp.

DynamixelController::~DynamixelController

(

)

Definition at line 50 of file dynamixel_workbench_controllers.cpp.

Member Function Documentation

void DynamixelController::commandVelocityCallback

(

const geometry_msgs::Twist::ConstPtr &

msg

)

Definition at line 506 of file dynamixel_workbench_controllers.cpp.

bool DynamixelController::dynamixelCommandMsgCallback	(	dynamixel_workbench_msgs::DynamixelCommand::Request &	req,
		dynamixel_workbench_msgs::DynamixelCommand::Response &	res
	)

Definition at line 739 of file dynamixel_workbench_controllers.cpp.

bool DynamixelController::getDynamixelsInfo

(

const std::string

yaml_file

)

Definition at line 66 of file dynamixel_workbench_controllers.cpp.

bool DynamixelController::getPresentPosition

(

std::vector< std::string >

dxl_name

)

Definition at line 243 of file dynamixel_workbench_controllers.cpp.

double DynamixelController::getPublishPeriod ( )

inline

Definition at line 114 of file dynamixel_workbench_controllers.h.

double DynamixelController::getReadPeriod ( )

inline

Definition at line 112 of file dynamixel_workbench_controllers.h.

double DynamixelController::getWritePeriod ( )

inline

Definition at line 113 of file dynamixel_workbench_controllers.h.

bool DynamixelController::initControlItems

(

void

)

Definition at line 156 of file dynamixel_workbench_controllers.cpp.

bool DynamixelController::initDynamixels

(

void

)

Definition at line 125 of file dynamixel_workbench_controllers.cpp.

void DynamixelController::initPublisher

(

void

)

Definition at line 316 of file dynamixel_workbench_controllers.cpp.

bool DynamixelController::initSDKHandlers

(

void

)

Definition at line 191 of file dynamixel_workbench_controllers.cpp.

void DynamixelController::initServer

(

)

Definition at line 328 of file dynamixel_workbench_controllers.cpp.

void DynamixelController::initSubscriber

(

void

)

Definition at line 322 of file dynamixel_workbench_controllers.cpp.

bool DynamixelController::initWorkbench	(	const std::string	port_name,
		const uint32_t	baud_rate
	)

Definition at line 52 of file dynamixel_workbench_controllers.cpp.

bool DynamixelController::loadDynamixels

(

void

)

Definition at line 101 of file dynamixel_workbench_controllers.cpp.

void DynamixelController::publishCallback

(

const ros::TimerEvent &

)

Definition at line 455 of file dynamixel_workbench_controllers.cpp.

void DynamixelController::readCallback

(

const ros::TimerEvent &

)

Definition at line 333 of file dynamixel_workbench_controllers.cpp.

void DynamixelController::trajectoryMsgCallback

(

const trajectory_msgs::JointTrajectory::ConstPtr &

msg

)

Definition at line 630 of file dynamixel_workbench_controllers.cpp.

void DynamixelController::writeCallback

(

const ros::TimerEvent &

)

Definition at line 575 of file dynamixel_workbench_controllers.cpp.

Member Data Documentation

ros::Subscriber DynamixelController::cmd_vel_sub_

private

Definition at line 66 of file dynamixel_workbench_controllers.h.

std::map<std::string, const ControlItem*> DynamixelController::control_items_

private

Definition at line 78 of file dynamixel_workbench_controllers.h.

DynamixelWorkbench* DynamixelController::dxl_wb_

private

Definition at line 75 of file dynamixel_workbench_controllers.h.

std::map<std::string, uint32_t> DynamixelController::dynamixel_

private

Definition at line 77 of file dynamixel_workbench_controllers.h.

ros::ServiceServer DynamixelController::dynamixel_command_server_

private

Definition at line 70 of file dynamixel_workbench_controllers.h.

std::vector<std::pair<std::string, ItemValue> > DynamixelController::dynamixel_info_

private

Definition at line 79 of file dynamixel_workbench_controllers.h.

dynamixel_workbench_msgs::DynamixelStateList DynamixelController::dynamixel_state_list_

private

Definition at line 80 of file dynamixel_workbench_controllers.h.

ros::Publisher DynamixelController::dynamixel_state_list_pub_

private

Definition at line 62 of file dynamixel_workbench_controllers.h.

bool DynamixelController::is_cmd_vel_topic_

private

Definition at line 85 of file dynamixel_workbench_controllers.h.

bool DynamixelController::is_joint_state_topic_

private

Definition at line 84 of file dynamixel_workbench_controllers.h.

bool DynamixelController::is_moving_

private

Definition at line 98 of file dynamixel_workbench_controllers.h.

JointTrajectory* DynamixelController::jnt_tra_

private

Definition at line 91 of file dynamixel_workbench_controllers.h.

trajectory_msgs::JointTrajectory* DynamixelController::jnt_tra_msg_

private

Definition at line 92 of file dynamixel_workbench_controllers.h.

sensor_msgs::JointState DynamixelController::joint_state_msg_

private

Definition at line 81 of file dynamixel_workbench_controllers.h.

ros::Publisher DynamixelController::joint_states_pub_

private

Definition at line 63 of file dynamixel_workbench_controllers.h.

ros::NodeHandle DynamixelController::node_handle_

private

Definition at line 56 of file dynamixel_workbench_controllers.h.

std::vector<WayPoint> DynamixelController::pre_goal_

private

Definition at line 82 of file dynamixel_workbench_controllers.h.

ros::NodeHandle DynamixelController::priv_node_handle_

private

Definition at line 57 of file dynamixel_workbench_controllers.h.

double DynamixelController::pub_period_

private

Definition at line 96 of file dynamixel_workbench_controllers.h.

double DynamixelController::read_period_

private

Definition at line 94 of file dynamixel_workbench_controllers.h.

ros::Subscriber DynamixelController::trajectory_sub_

private

Definition at line 67 of file dynamixel_workbench_controllers.h.

bool DynamixelController::use_moveit_

private

Definition at line 86 of file dynamixel_workbench_controllers.h.

double DynamixelController::wheel_radius_

private

Definition at line 89 of file dynamixel_workbench_controllers.h.

double DynamixelController::wheel_separation_

private

Definition at line 88 of file dynamixel_workbench_controllers.h.

double DynamixelController::write_period_

private

Definition at line 95 of file dynamixel_workbench_controllers.h.

---

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

• dynamixel_workbench_controllers.h
• dynamixel_workbench_controllers.cpp