Implementation of ROS node for sdh. More...

Public Member Functions
void	executeCB (const control_msgs::FollowJointTrajectoryGoalConstPtr &goal)
	Executes the callback from the actionlib. More...

void	executeCB (const control_msgs::FollowJointTrajectoryGoalConstPtr &goal)
	Executes the callback from the actionlib. More...

bool	init ()
	Initializes node to get parameters, subscribe and publish to topics. More...

bool	init ()
	Initializes node to get parameters, subscribe and publish to topics. More...

	SdhNode (std::string name)
	Constructor for SdhNode class. More...

	SdhNode (std::string name)
	Constructor for SdhNode class. More...

bool	srvCallback_Disconnect (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
	Executes the service callback for disconnect. More...

bool	srvCallback_Disconnect (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
	Executes the service callback for disconnect. More...

bool	srvCallback_EmergencyStop (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
	Executes the service callback for emergency_stop. More...

bool	srvCallback_EmergencyStop (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
	Executes the service callback for emergency_stop. More...

bool	srvCallback_Init (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
	Executes the service callback for init. More...

bool	srvCallback_Init (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
	Executes the service callback for init. More...

bool	srvCallback_MotorPowerOff (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
	Disable motor power. More...

bool	srvCallback_MotorPowerOff (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
	Disable motor power. More...

bool	srvCallback_MotorPowerOn (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
	Enable motor power. More...

bool	srvCallback_MotorPowerOn (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
	Enable motor power. More...

bool	srvCallback_Recover (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
	Executes the service callback for recover. More...

bool	srvCallback_SetOperationMode (cob_srvs::SetString::Request &req, cob_srvs::SetString::Response &res)
	Executes the service callback for set_operation_mode. More...

bool	srvCallback_SetOperationMode (cob_srvs::SetString::Request &req, cob_srvs::SetString::Response &res)
	Executes the service callback for set_operation_mode. More...

bool	srvCallback_Stop (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
	Executes the service callback for stop. More...

bool	srvCallback_Stop (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
	Executes the service callback for stop. More...

bool	switchOperationMode (const std::string &mode)
	Switches operation mode if possible. More...

bool	switchOperationMode (const std::string &mode)
	Switches operation mode if possible. More...

void	topicCallback_setVelocitiesRaw (const std_msgs::Float64MultiArrayPtr &velocities)

void	topicCallback_setVelocitiesRaw (const std_msgs::Float64MultiArrayPtr &velocities)

void	updateDsa ()
	Main routine to update dsa. More...

void	updateSdh ()
	Main routine to update sdh. More...

void	updateSdh ()
	Main routine to update sdh. More...

	~SdhNode ()
	Destructor for SdhNode class. More...

	~SdhNode ()
	Destructor for SdhNode class. More...

Public Attributes
ros::NodeHandle	nh_
	create a handle for this node, initialize node More...

Private Attributes
std::string	action_name_

actionlib::SimpleActionServer< control_msgs::FollowJointTrajectoryAction >	as_

std::vector< int >	axes_

int	baudrate_

int	DOF_

SDH::cDSA *	dsa_

double	dsa_calib_pressure_

double	dsa_calib_voltage_

int	dsa_dbg_level_

double	dsa_sensitivity_

int	dsadevicenum_

std::string	dsadevicestring_

bool	hasNewGoal_

int	id_read_

int	id_write_

bool	isDSAInitialized_

bool	isError_

bool	isInitialized_

std::vector< std::string >	joint_names_

std::string	operationMode_

double	pi_

SDH::cSDH *	sdh_

int	sdhdevicenum_

std::string	sdhdevicestring_

std::string	sdhdevicetype_

ros::ServiceServer	srvServer_Disconnect_

ros::ServiceServer	srvServer_EmergencyStop_

ros::ServiceServer	srvServer_Init_

ros::ServiceServer	srvServer_MotorOff_

ros::ServiceServer	srvServer_MotorOn_

ros::ServiceServer	srvServer_Recover_

ros::ServiceServer	srvServer_SetOperationMode_

ros::ServiceServer	srvServer_Stop_

std::vector< SDH::cSDH::eAxisState >	state_

ros::Subscriber	subSetVelocitiesRaw_

std::vector< double >	targetAngles_

double	timeout_

ros::Publisher	topicPub_ControllerState_

ros::Publisher	topicPub_Diagnostics_

ros::Publisher	topicPub_JointState_

ros::Publisher	topicPub_Pressure_

ros::Publisher	topicPub_TactileSensor_

ros::Publisher	topicPub_Temperature_

trajectory_msgs::JointTrajectory	traj_

std::vector< double >	velocities_

Static Private Attributes
static const std::vector< std::string >	finger_names_

static const std::vector< std::string >	temperature_names_

Detailed Description

Implementation of ROS node for sdh.

Offers actionlib and direct command interface.

Definition at line 58 of file sdh.cpp.

Constructor & Destructor Documentation

SdhNode::SdhNode ( std::string name )

inline

Constructor for SdhNode class.

Parameters

name	Name for the actionlib server

Definition at line 133 of file sdh.cpp.

SdhNode::~SdhNode ( )

inline

Destructor for SdhNode class.

Definition at line 147 of file sdh.cpp.

SdhNode::SdhNode ( std::string name )

inline

Constructor for SdhNode class.

Parameters

name	Name for the actionlib server

Definition at line 119 of file sdh_only.cpp.

SdhNode::~SdhNode ( )

inline

Destructor for SdhNode class.

Definition at line 132 of file sdh_only.cpp.

Member Function Documentation

void SdhNode::executeCB ( const control_msgs::FollowJointTrajectoryGoalConstPtr & goal )

inline

Executes the callback from the actionlib.

Set the current goal to aborted after receiving a new goal and write new goal to a member variable. Wait for the goal to finish and set actionlib status to succeeded.

Parameters

goal	JointTrajectoryGoal

Definition at line 263 of file sdh_only.cpp.

void SdhNode::executeCB ( const control_msgs::FollowJointTrajectoryGoalConstPtr & goal )

inline

Executes the callback from the actionlib.

Set the current goal to aborted after receiving a new goal and write new goal to a member variable. Wait for the goal to finish and set actionlib status to succeeded.

Parameters

goal	JointTrajectoryGoal

Definition at line 288 of file sdh.cpp.

bool SdhNode::init ( )

inline

Initializes node to get parameters, subscribe and publish to topics.

Definition at line 142 of file sdh_only.cpp.

bool SdhNode::init ( )

inline

Initializes node to get parameters, subscribe and publish to topics.

Definition at line 159 of file sdh.cpp.

bool SdhNode::srvCallback_Disconnect	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

inline

Executes the service callback for disconnect.

Disconnect from SDH and disable motors to prevent overheating.

Parameters

req	Service request
res	Service response

Definition at line 567 of file sdh_only.cpp.

bool SdhNode::srvCallback_Disconnect	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

inline

Executes the service callback for disconnect.

Disconnect from SDH and DSA and disable motors to prevent overheating.

Parameters

req	Service request
res	Service response

Definition at line 618 of file sdh.cpp.

bool SdhNode::srvCallback_EmergencyStop	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

inline

Executes the service callback for emergency_stop.

Performs an emergency stop.

Parameters

req	Service request
res	Service response

Definition at line 541 of file sdh_only.cpp.

bool SdhNode::srvCallback_EmergencyStop	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

inline

Executes the service callback for emergency_stop.

Performs an emergency stop.

Parameters

req	Service request
res	Service response

Definition at line 592 of file sdh.cpp.

bool SdhNode::srvCallback_Init	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

inline

Executes the service callback for init.

Connects to the hardware and initialized it.

Parameters

req	Service request
res	Service response

Definition at line 385 of file sdh_only.cpp.

bool SdhNode::srvCallback_Init	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

inline

Executes the service callback for init.

Connects to the hardware and initialized it.

Parameters

req	Service request
res	Service response

Definition at line 415 of file sdh.cpp.

bool SdhNode::srvCallback_MotorPowerOff	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

inline

Disable motor power.

Parameters

req	Service request
res	Service response

Definition at line 616 of file sdh_only.cpp.

bool SdhNode::srvCallback_MotorPowerOff	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

inline

Disable motor power.

Parameters

req	Service request
res	Service response

Definition at line 669 of file sdh.cpp.

bool SdhNode::srvCallback_MotorPowerOn	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

inline

Enable motor power.

Parameters

req	Service request
res	Service response

Definition at line 594 of file sdh_only.cpp.

bool SdhNode::srvCallback_MotorPowerOn	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

inline

Enable motor power.

Parameters

req	Service request
res	Service response

Definition at line 647 of file sdh.cpp.

bool SdhNode::srvCallback_Recover	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

inline

Executes the service callback for recover.

Recovers the hardware after an emergency stop.

Parameters

req	Service request
res	Service response

Definition at line 490 of file sdh_only.cpp.

bool SdhNode::srvCallback_SetOperationMode	(	cob_srvs::SetString::Request &	req,
		cob_srvs::SetString::Response &	res
	)

inline

Executes the service callback for set_operation_mode.

Changes the operation mode.

Parameters

req	Service request
res	Service response

Definition at line 505 of file sdh_only.cpp.

bool SdhNode::srvCallback_SetOperationMode	(	cob_srvs::SetString::Request &	req,
		cob_srvs::SetString::Response &	res
	)

inline

Executes the service callback for set_operation_mode.

Changes the operation mode.

Parameters

req	Service request
res	Service response

Definition at line 553 of file sdh.cpp.

bool SdhNode::srvCallback_Stop	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

inline

Executes the service callback for stop.

Stops all hardware movements.

Parameters

req	Service request
res	Service response

Definition at line 463 of file sdh_only.cpp.

bool SdhNode::srvCallback_Stop	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

inline

Executes the service callback for stop.

Stops all hardware movements.

Parameters

req	Service request
res	Service response

Definition at line 525 of file sdh.cpp.

bool SdhNode::switchOperationMode ( const std::string & mode )

inline

Switches operation mode if possible.

Parameters

mode new mode

Definition at line 224 of file sdh_only.cpp.

bool SdhNode::switchOperationMode ( const std::string & mode )

inline

Switches operation mode if possible.

Parameters

mode new mode

Definition at line 249 of file sdh.cpp.

void SdhNode::topicCallback_setVelocitiesRaw ( const std_msgs::Float64MultiArrayPtr & velocities )

inline

Definition at line 345 of file sdh_only.cpp.

void SdhNode::topicCallback_setVelocitiesRaw ( const std_msgs::Float64MultiArrayPtr & velocities )

inline

Definition at line 375 of file sdh.cpp.

void SdhNode::updateDsa ( )

inline

Main routine to update dsa.

Reads out current values.

Definition at line 914 of file sdh.cpp.

void SdhNode::updateSdh ( )

inline

Main routine to update sdh.

Sends target to hardware and reads out current configuration.

Definition at line 638 of file sdh_only.cpp.

void SdhNode::updateSdh ( )

inline

Main routine to update sdh.

Sends target to hardware and reads out current configuration.

Definition at line 691 of file sdh.cpp.

Member Data Documentation

std::string SdhNode::action_name_

private

Definition at line 87 of file sdh.cpp.

actionlib::SimpleActionServer< control_msgs::FollowJointTrajectoryAction > SdhNode::as_

private

Definition at line 86 of file sdh.cpp.

std::vector< int > SdhNode::axes_

private

Definition at line 118 of file sdh.cpp.

int SdhNode::baudrate_

private

Definition at line 106 of file sdh.cpp.

int SdhNode::DOF_

private

Definition at line 112 of file sdh.cpp.

SDH::cDSA* SdhNode::dsa_

private

Definition at line 94 of file sdh.cpp.

double SdhNode::dsa_calib_pressure_

private

Definition at line 103 of file sdh.cpp.

double SdhNode::dsa_calib_voltage_

private

Definition at line 104 of file sdh.cpp.

int SdhNode::dsa_dbg_level_

private

Definition at line 101 of file sdh.cpp.

double SdhNode::dsa_sensitivity_

private

Definition at line 102 of file sdh.cpp.

int SdhNode::dsadevicenum_

private

Definition at line 105 of file sdh.cpp.

std::string SdhNode::dsadevicestring_

private

Definition at line 100 of file sdh.cpp.

const std::vector< std::string > SdhNode::finger_names_

staticprivate

Initial value:

= {
  "finger_2", "thumb_", "finger_1"
}

Definition at line 125 of file sdh.cpp.

bool SdhNode::hasNewGoal_

private

Definition at line 121 of file sdh.cpp.

int SdhNode::id_read_

private

Definition at line 106 of file sdh.cpp.

int SdhNode::id_write_

private

Definition at line 106 of file sdh.cpp.

bool SdhNode::isDSAInitialized_

private

Definition at line 110 of file sdh.cpp.

bool SdhNode::isError_

private

Definition at line 111 of file sdh.cpp.

bool SdhNode::isInitialized_

private

Definition at line 109 of file sdh.cpp.

std::vector< std::string > SdhNode::joint_names_

private

Definition at line 117 of file sdh.cpp.

ros::NodeHandle SdhNode::nh_

create a handle for this node, initialize node

Definition at line 62 of file sdh.cpp.

std::string SdhNode::operationMode_

private

Definition at line 122 of file sdh.cpp.

double SdhNode::pi_

private

Definition at line 113 of file sdh.cpp.

SDH::cSDH * SdhNode::sdh_

private

Definition at line 93 of file sdh.cpp.

int SdhNode::sdhdevicenum_

private

Definition at line 99 of file sdh.cpp.

std::string SdhNode::sdhdevicestring_

private

Definition at line 98 of file sdh.cpp.

std::string SdhNode::sdhdevicetype_

private

Definition at line 97 of file sdh.cpp.

ros::ServiceServer SdhNode::srvServer_Disconnect_

private

Definition at line 81 of file sdh.cpp.

ros::ServiceServer SdhNode::srvServer_EmergencyStop_

private

Definition at line 80 of file sdh.cpp.

ros::ServiceServer SdhNode::srvServer_Init_

private

Definition at line 76 of file sdh.cpp.

ros::ServiceServer SdhNode::srvServer_MotorOff_

private

Definition at line 83 of file sdh.cpp.

ros::ServiceServer SdhNode::srvServer_MotorOn_

private

Definition at line 82 of file sdh.cpp.

ros::ServiceServer SdhNode::srvServer_Recover_

private

Definition at line 78 of file sdh.cpp.

ros::ServiceServer SdhNode::srvServer_SetOperationMode_

private

Definition at line 79 of file sdh.cpp.

ros::ServiceServer SdhNode::srvServer_Stop_

private

Definition at line 77 of file sdh.cpp.

std::vector< SDH::cSDH::eAxisState > SdhNode::state_

private

Definition at line 95 of file sdh.cpp.

ros::Subscriber SdhNode::subSetVelocitiesRaw_

private

Definition at line 73 of file sdh.cpp.

std::vector< double > SdhNode::targetAngles_

private

Definition at line 119 of file sdh.cpp.

const std::vector< std::string > SdhNode::temperature_names_

staticprivate

Initial value:

= {
    "root",
    "proximal_finger_1", "distal_finger_1",
    "proximal_finger_2", "distal_finger_2",
    "proximal_finger_3", "distal_finger_3",
    "controller", "pcb"
}

Definition at line 124 of file sdh.cpp.

double SdhNode::timeout_

private

Definition at line 107 of file sdh.cpp.

ros::Publisher SdhNode::topicPub_ControllerState_

private

Definition at line 66 of file sdh.cpp.

ros::Publisher SdhNode::topicPub_Diagnostics_

private

Definition at line 68 of file sdh.cpp.

ros::Publisher SdhNode::topicPub_JointState_

private

Definition at line 65 of file sdh.cpp.

ros::Publisher SdhNode::topicPub_Pressure_

private

Definition at line 70 of file sdh.cpp.

ros::Publisher SdhNode::topicPub_TactileSensor_

private

Definition at line 67 of file sdh.cpp.

ros::Publisher SdhNode::topicPub_Temperature_

private

Definition at line 69 of file sdh.cpp.

trajectory_msgs::JointTrajectory SdhNode::traj_

private

Definition at line 115 of file sdh.cpp.

std::vector< double > SdhNode::velocities_

private

Definition at line 120 of file sdh.cpp.

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

Public Member Functions

Public Attributes

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation