Message handler that relays robot service to the robot controller. More...

#include <fsrobo_r_robot_service_interface.h>

Public Member Functions
	FSRoboRRobotServiceInterface ()
	Default constructor. More...

virtual bool	init (std::string default_ip="", int default_port=StandardSocketPorts::IO)
	Initialize robot connection using default method. More...

virtual bool	init (SmplMsgConnection *connection)
	Initialize robot connection using specified method. More...

virtual void	run ()
	Begin processing messages and publishing topics. More...

	~FSRoboRRobotServiceInterface ()

Protected Member Functions
bool	getPostureCB (fsrobo_r_msgs::GetPosture::Request &req, fsrobo_r_msgs::GetPosture::Response &res)
	Callback function registered to ROS get_posture service. Transform message into SimpleMessage objects and send commands to robot. More...

bool	setIOCB (fsrobo_r_msgs::SetIO::Request &req, fsrobo_r_msgs::SetIO::Response &res)
	Callback function registered to ROS set_io service. Transform message into SimpleMessage objects and send commands to robot. More...

bool	setPostureCB (fsrobo_r_msgs::SetPosture::Request &req, fsrobo_r_msgs::SetPosture::Response &res)
	Callback function registered to ROS set_posture service. Transform message into SimpleMessage objects and send commands to robot. More...

bool	setToolOffsetCB (fsrobo_r_msgs::SetToolOffset::Request &req, fsrobo_r_msgs::SetToolOffset::Response &res)
	Callback function registered to ROS set_tool_offset service. Transform message into SimpleMessage objects and send commands to robot. More...

Protected Attributes
SmplMsgConnection *	connection_

TcpClient	default_tcp_connection_

IOControl	io_ctrl_

ros::NodeHandle	node_

RobotConfigurator	robot_configurator_

ros::ServiceServer	srv_get_posture

ros::ServiceServer	srv_set_io_

ros::ServiceServer	srv_set_posture

ros::ServiceServer	srv_set_tool_offset

Detailed Description

Message handler that relays robot service to the robot controller.

THIS CLASS IS NOT THREAD-SAFE

Definition at line 61 of file fsrobo_r_robot_service_interface.h.

Constructor & Destructor Documentation

fsrobo_r_driver::robot_service_interface::FSRoboRRobotServiceInterface::FSRoboRRobotServiceInterface ( )

Default constructor.

Definition at line 36 of file fsrobo_r_robot_service_interface.cpp.

fsrobo_r_driver::robot_service_interface::FSRoboRRobotServiceInterface::~FSRoboRRobotServiceInterface ( )

Definition at line 40 of file fsrobo_r_robot_service_interface.cpp.

Member Function Documentation

bool fsrobo_r_driver::robot_service_interface::FSRoboRRobotServiceInterface::getPostureCB	(	fsrobo_r_msgs::GetPosture::Request &	req,
		fsrobo_r_msgs::GetPosture::Response &	res
	)

protected

Callback function registered to ROS get_posture service. Transform message into SimpleMessage objects and send commands to robot.

Parameters

req	GetPosture request from service call
res	GetPosture response to service call

Returns: true if success, false otherwise

Definition at line 138 of file fsrobo_r_robot_service_interface.cpp.

bool fsrobo_r_driver::robot_service_interface::FSRoboRRobotServiceInterface::init	(	std::string	default_ip = `""`,
		int	default_port = `StandardSocketPorts::IO`
	)

virtual

Initialize robot connection using default method.

Parameters

default_ip	default IP address to use for robot connection [OPTIONAL] this value will be used if ROS param "robot_ip_address" cannot be read
default_port	default port to use for robot connection [OPTIONAL] this value will be used if ROS param "~port" cannot be read

Returns: true on success, false otherwise

Definition at line 44 of file fsrobo_r_robot_service_interface.cpp.

bool fsrobo_r_driver::robot_service_interface::FSRoboRRobotServiceInterface::init ( SmplMsgConnection * connection )

virtual

Initialize robot connection using specified method.

Parameters

connection new robot-connection instance (ALREADY INITIALIZED).

Returns: true on success, false otherwise

Definition at line 74 of file fsrobo_r_robot_service_interface.cpp.

virtual void fsrobo_r_driver::robot_service_interface::FSRoboRRobotServiceInterface::run ( )

inlinevirtual

Begin processing messages and publishing topics.

Definition at line 96 of file fsrobo_r_robot_service_interface.h.

bool fsrobo_r_driver::robot_service_interface::FSRoboRRobotServiceInterface::setIOCB	(	fsrobo_r_msgs::SetIO::Request &	req,
		fsrobo_r_msgs::SetIO::Response &	res
	)

protected

Callback function registered to ROS set_io service. Transform message into SimpleMessage objects and send commands to robot.

Parameters

req	SetIO request from service call
res	SetIO response to service call

Returns: true if success, false otherwise

Definition at line 90 of file fsrobo_r_robot_service_interface.cpp.

bool fsrobo_r_driver::robot_service_interface::FSRoboRRobotServiceInterface::setPostureCB	(	fsrobo_r_msgs::SetPosture::Request &	req,
		fsrobo_r_msgs::SetPosture::Response &	res
	)

protected

Callback function registered to ROS set_posture service. Transform message into SimpleMessage objects and send commands to robot.

Parameters

req	SetPosture request from service call
res	SetPosture response to service call

Returns: true if success, false otherwise

Definition at line 119 of file fsrobo_r_robot_service_interface.cpp.

bool fsrobo_r_driver::robot_service_interface::FSRoboRRobotServiceInterface::setToolOffsetCB	(	fsrobo_r_msgs::SetToolOffset::Request &	req,
		fsrobo_r_msgs::SetToolOffset::Response &	res
	)

protected

Callback function registered to ROS set_tool_offset service. Transform message into SimpleMessage objects and send commands to robot.

Parameters

req	SetToolOffset request from service call
res	SetToolOffset response to service call

Returns: true if success, false otherwise

Definition at line 159 of file fsrobo_r_robot_service_interface.cpp.

Member Data Documentation

SmplMsgConnection* fsrobo_r_driver::robot_service_interface::FSRoboRRobotServiceInterface::connection_

protected

Definition at line 146 of file fsrobo_r_robot_service_interface.h.

TcpClient fsrobo_r_driver::robot_service_interface::FSRoboRRobotServiceInterface::default_tcp_connection_

protected

Definition at line 143 of file fsrobo_r_robot_service_interface.h.

IOControl fsrobo_r_driver::robot_service_interface::FSRoboRRobotServiceInterface::io_ctrl_

protected

Definition at line 104 of file fsrobo_r_robot_service_interface.h.

ros::NodeHandle fsrobo_r_driver::robot_service_interface::FSRoboRRobotServiceInterface::node_

protected

Definition at line 145 of file fsrobo_r_robot_service_interface.h.

RobotConfigurator fsrobo_r_driver::robot_service_interface::FSRoboRRobotServiceInterface::robot_configurator_

protected

Definition at line 105 of file fsrobo_r_robot_service_interface.h.

ros::ServiceServer fsrobo_r_driver::robot_service_interface::FSRoboRRobotServiceInterface::srv_get_posture

protected

Definition at line 101 of file fsrobo_r_robot_service_interface.h.

ros::ServiceServer fsrobo_r_driver::robot_service_interface::FSRoboRRobotServiceInterface::srv_set_io_

protected

Definition at line 99 of file fsrobo_r_robot_service_interface.h.

ros::ServiceServer fsrobo_r_driver::robot_service_interface::FSRoboRRobotServiceInterface::srv_set_posture

protected

Definition at line 100 of file fsrobo_r_robot_service_interface.h.

ros::ServiceServer fsrobo_r_driver::robot_service_interface::FSRoboRRobotServiceInterface::srv_set_tool_offset

protected

Definition at line 102 of file fsrobo_r_robot_service_interface.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation