services.h File Reference

#include <vector>
#include <franka/exception.h>
#include <franka/robot.h>
#include <ros/console.h>
#include <ros/node_handle.h>
#include <ros/service_server.h>
#include <franka_msgs/SetCartesianImpedance.h>
#include <franka_msgs/SetEEFrame.h>
#include <franka_msgs/SetForceTorqueCollisionBehavior.h>
#include <franka_msgs/SetFullCollisionBehavior.h>
#include <franka_msgs/SetJointImpedance.h>
#include <franka_msgs/SetKFrame.h>
#include <franka_msgs/SetLoad.h>

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Classes
class	franka_hw::ServiceContainer
	This class serves as container that gathers all possible service interfaces to a libfranka robot instance. More...

Namespaces
	franka_hw

Functions
template<typename T >
ros::ServiceServer	franka_hw::advertiseService (ros::NodeHandle &node_handle, const std::string &name, std::function< void(typename T::Request &, typename T::Response &)> handler)
	Advertises a service that acts according to the handler function which is used in the service callback. More...
void	franka_hw::setCartesianImpedance (franka::Robot &robot, const franka_msgs::SetCartesianImpedance::Request &req, franka_msgs::SetCartesianImpedance::Response &res)
	Callback for the service interface to franka::robot::setCartesianImpedance. More...
void	franka_hw::setEEFrame (franka::Robot &robot, const franka_msgs::SetEEFrame::Request &req, franka_msgs::SetEEFrame::Response &res)
	Callback for the service interface to franka::robot::setEEFrame. More...
void	franka_hw::setForceTorqueCollisionBehavior (franka::Robot &robot, const franka_msgs::SetForceTorqueCollisionBehavior::Request &req, franka_msgs::SetForceTorqueCollisionBehavior::Response &res)
	Callback for the service interface to franka::robot::setForceTorqueCollisionBehavior. More...
void	franka_hw::setFullCollisionBehavior (franka::Robot &robot, const franka_msgs::SetFullCollisionBehavior::Request &req, franka_msgs::SetFullCollisionBehavior::Response &res)
	Callback for the service interface to franka::robot::setFullCollisionBehavior. More...
void	franka_hw::setJointImpedance (franka::Robot &robot, const franka_msgs::SetJointImpedance::Request &req, franka_msgs::SetJointImpedance::Response &res)
	Callback for the service interface to franka::robot::setJointImpedance. More...
void	franka_hw::setKFrame (franka::Robot &robot, const franka_msgs::SetKFrame::Request &req, franka_msgs::SetKFrame::Response &res)
	Callback for the service interface to franka::robot::setKFrame. More...
void	franka_hw::setLoad (franka::Robot &robot, const franka_msgs::SetLoad::Request &req, franka_msgs::SetLoad::Response &res)
	Callback for the service interface to franka::robot::setLoad. More...
void	franka_hw::setupServices (franka::Robot &robot, ros::NodeHandle &node_handle, ServiceContainer &services)
	Sets up all services relevant for a libfranka robot inside a service container. More...