SVHNode Class Reference

#include <SVHNode.h>

Public Member Functions
void	connectCallback (const std_msgs::Empty &)
	Callback function for connecting to SCHUNK five finger hand. More...
void	dynamic_reconfigure_callback (svh_controller::svhConfig &config, uint32_t level)
	Dynamic reconfigure callback to update changing parameters. More...
void	enableChannelCallback (const std_msgs::Int8ConstPtr &channel)
	Callback function to enable channels of SCHUNK five finger hand. More...
std_msgs::Float64MultiArray	getChannelCurrents ()
	getChannelCurrents Returns the current values of the channels as raw output More...
sensor_msgs::JointState	getChannelFeedback ()
	SVHNode::getChannelFeedback Gets the latest received positions and efforts from the driver. More...
void	jointStateCallback (const sensor_msgs::JointStateConstPtr &input)
	Callback function for setting channel target positions to SCHUNK five finger hand. More...
void	resetChannelCallback (const std_msgs::Int8ConstPtr &channel)
	Callback function to reset/home channels of SCHUNK five finger hand. More...
	SVHNode (const ros::NodeHandle &nh)
	SVHNode constructs a new node object that handles most of the functionality. More...
	~SVHNode ()
	Default DTOR. More...

Private Attributes
std_msgs::Float64MultiArray	channel_currents
	Current Value message template. More...
sensor_msgs::JointState	channel_pos_
	joint state message template More...
int	connect_retry_count
	Number of times the connect routine tries to connect in case that we receive at least one package. More...
boost::shared_ptr< driver_svh::SVHFingerManager >	fm_
	Handle to the SVH finger manager for library access. More...
std::string	name_prefix
	Prefix for the driver to identify joint names if the Driver should expext "left_hand_Pinky" than the prefix is left_hand. More...
std::string	serial_device_name_
	Serial device to use for communication with hardware. More...

Detailed Description

Definition at line 48 of file SVHNode.h.

Constructor & Destructor Documentation

SVHNode::SVHNode

(

const ros::NodeHandle &

nh

)

SVHNode constructs a new node object that handles most of the functionality.

Parameters

nh	ROS Nodehandle

Definition at line 39 of file SVHNode.cpp.

SVHNode::~SVHNode

(

)

Default DTOR.

Definition at line 213 of file SVHNode.cpp.

Member Function Documentation

void SVHNode::connectCallback

(

const std_msgs::Empty &

)

Callback function for connecting to SCHUNK five finger hand.

Definition at line 229 of file SVHNode.cpp.

void SVHNode::dynamic_reconfigure_callback	(	svh_controller::svhConfig &	config,
		uint32_t	level
	)

Dynamic reconfigure callback to update changing parameters.

Definition at line 220 of file SVHNode.cpp.

void SVHNode::enableChannelCallback

(

const std_msgs::Int8ConstPtr &

channel

)

Callback function to enable channels of SCHUNK five finger hand.

Definition at line 262 of file SVHNode.cpp.

std_msgs::Float64MultiArray SVHNode::getChannelCurrents

(

)

getChannelCurrents Returns the current values of the channels as raw output

Returns

Array containing the current values of the channels in mA

Definition at line 366 of file SVHNode.cpp.

sensor_msgs::JointState SVHNode::getChannelFeedback

(

)

SVHNode::getChannelFeedback Gets the latest received positions and efforts from the driver.

Returns

The current joint states (Position and Efforts)

Definition at line 341 of file SVHNode.cpp.

void SVHNode::jointStateCallback

(

const sensor_msgs::JointStateConstPtr &

input

)

Callback function for setting channel target positions to SCHUNK five finger hand.

Definition at line 268 of file SVHNode.cpp.

void SVHNode::resetChannelCallback

(

const std_msgs::Int8ConstPtr &

channel

)

Callback function to reset/home channels of SCHUNK five finger hand.

Definition at line 246 of file SVHNode.cpp.

Member Data Documentation

std_msgs::Float64MultiArray SVHNode::channel_currents

private

Current Value message template.

Definition at line 104 of file SVHNode.h.

sensor_msgs::JointState SVHNode::channel_pos_

private

joint state message template

Definition at line 101 of file SVHNode.h.

int SVHNode::connect_retry_count

private

Number of times the connect routine tries to connect in case that we receive at least one package.

Definition at line 95 of file SVHNode.h.

boost::shared_ptr<driver_svh::SVHFingerManager> SVHNode::fm_

private

Handle to the SVH finger manager for library access.

Definition at line 89 of file SVHNode.h.

std::string SVHNode::name_prefix

private

Prefix for the driver to identify joint names if the Driver should expext "left_hand_Pinky" than the prefix is left_hand.

Definition at line 98 of file SVHNode.h.

std::string SVHNode::serial_device_name_

private

Serial device to use for communication with hardware.

Definition at line 92 of file SVHNode.h.

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

• SVHNode.h
• SVHNode.cpp