Public Member Functions
	GenericHWLoop (const ros::NodeHandle &nh, boost::shared_ptr< robotiq_3f_gripper_control::Robotiq3FGripperHWInterface > hardware_interface)

	GenericHWLoop (const ros::NodeHandle &nh, boost::shared_ptr< robotiq_3f_gripper_control::Robotiq3FGripperHWInterface > hardware_interface)

void	update (const ros::TimerEvent &e)
	Timer event Note: we do not use the TimerEvent time difference because it does NOT guarantee that the time source is strictly linearly increasing. More...

void	update (const ros::TimerEvent &e)
	Timer event Note: we do not use the TimerEvent time difference because it does NOT guarantee that the time source is strictly linearly increasing. More...

Protected Attributes
boost::shared_ptr< controller_manager::ControllerManager >	controller_manager_
	ROS Controller Manager and Runner. More...

struct timespec	current_time_

double	cycle_time_error_threshold_

ros::Duration	desired_update_freq_

ros::Duration	elapsed_time_

boost::shared_ptr< robotiq_3f_gripper_control::Robotiq3FGripperHWInterface >	hardware_interface_
	Abstract Hardware Interface for your robot. More...

struct timespec	last_time_

double	loop_hz_

std::string	name_

ros::NodeHandle	nh_

ros::Timer	non_realtime_loop_

Detailed Description

Definition at line 34 of file robotiq_3f_gripper_can_node.cpp.

Constructor & Destructor Documentation

GenericHWLoop::GenericHWLoop	(	const ros::NodeHandle &	nh,
		boost::shared_ptr< robotiq_3f_gripper_control::Robotiq3FGripperHWInterface >	hardware_interface
	)

inline

Create the controller manager

Load rosparams

Get current time for use with first update

Start timer

Definition at line 37 of file robotiq_3f_gripper_can_node.cpp.

GenericHWLoop::GenericHWLoop	(	const ros::NodeHandle &	nh,
		boost::shared_ptr< robotiq_3f_gripper_control::Robotiq3FGripperHWInterface >	hardware_interface
	)

inline

Create the controller manager

Load rosparams

Get current time for use with first update

Start timer

Definition at line 38 of file robotiq_3f_gripper_ethercat_node.cpp.

Member Function Documentation

void GenericHWLoop::update ( const ros::TimerEvent & e )

inline

Timer event Note: we do not use the TimerEvent time difference because it does NOT guarantee that the time source is strictly linearly increasing.

Get change in time

Error check cycle time

Input

Control

Output

Definition at line 68 of file robotiq_3f_gripper_can_node.cpp.

void GenericHWLoop::update ( const ros::TimerEvent & e )

inline

Timer event Note: we do not use the TimerEvent time difference because it does NOT guarantee that the time source is strictly linearly increasing.

Get change in time

Error check cycle time

Input

Control

Output

Definition at line 69 of file robotiq_3f_gripper_ethercat_node.cpp.

Member Data Documentation

boost::shared_ptr< controller_manager::ControllerManager > GenericHWLoop::controller_manager_

protected

ROS Controller Manager and Runner.

This class advertises a ROS interface for loading, unloading, starting, and stopping ros_control-based controllers. It also serializes execution of all running controllers in update.

Definition at line 120 of file robotiq_3f_gripper_can_node.cpp.

struct timespec GenericHWLoop::current_time_

protected

Definition at line 112 of file robotiq_3f_gripper_can_node.cpp.

double GenericHWLoop::cycle_time_error_threshold_

protected

Definition at line 105 of file robotiq_3f_gripper_can_node.cpp.

ros::Duration GenericHWLoop::desired_update_freq_

protected

Definition at line 104 of file robotiq_3f_gripper_can_node.cpp.

ros::Duration GenericHWLoop::elapsed_time_

protected