32 #ifndef MOTOMAN_DRIVER_IO_RELAY_H 33 #define MOTOMAN_DRIVER_IO_RELAY_H 37 #include "motoman_msgs/ReadSingleIO.h" 38 #include "motoman_msgs/WriteSingleIO.h" 39 #include <boost/thread.hpp> 60 bool init(
int default_port);
73 motoman_msgs::ReadSingleIO::Response &res);
75 motoman_msgs::WriteSingleIO::Response &res);
81 #endif // MOTOMAN_DRIVER_IO_RELAY_H ros::ServiceServer srv_write_single_io
bool readSingleIoCB(motoman_msgs::ReadSingleIO::Request &req, motoman_msgs::ReadSingleIO::Response &res)
Wrapper class around Motoman-specific io control commands.
bool init(int default_port)
Class initializer.
io_ctrl::MotomanIoCtrl io_ctrl_
TcpClient default_tcp_connection_
Message handler that sends I/O service requests to the robot controller and receives the responses...
bool writeSingleIoCB(motoman_msgs::WriteSingleIO::Request &req, motoman_msgs::WriteSingleIO::Response &res)
ros::ServiceServer srv_read_single_io