shadowrobot::HandCommander Class Reference

#include <hand_commander.hpp>

Public Member Functions
std::vector< std::string >	get_all_joints ()
std::string	get_controller_state_topic (std::string joint_name)
std::pair< double, double >	get_min_max (std::string joint_name)
	HandCommander (const std::string &ns="")
void	sendCommands (std::vector< sr_robot_msgs::joint > joint_vector)
	~HandCommander ()
	Destructor. More...

Private Member Functions
void	initializeEthercatHand ()

Private Attributes
std::map< std::string, boost::shared_ptr< urdf::Joint > >	all_joints
	stores data about the hand (read from urdf) More...
bool	ethercat_controllers_found
shadowhandRosLib::HandType	hand_type
NodeHandle	node_
	ros node handle More...
std::map< std::string, std::string >	sr_hand_sub_topics
	A map of topics for the controller states. More...
Publisher	sr_hand_target_pub
	Publisher for the CAN hand targets. More...
boost::ptr_map< std::string, Publisher >	sr_hand_target_pub_map
	Publishers for the ethercat hand targets for every joint. More...

Static Private Attributes
static const double	TIMEOUT_TO_DETECT_CONTROLLER_MANAGER = 3.0

Detailed Description

This ROS subscriber is used to issue commands to the hand / arm, from sending a set of targets, to changing the controller parameters.

Definition at line 62 of file hand_commander.hpp.

Constructor & Destructor Documentation

shadowrobot::HandCommander::HandCommander ( const std::string &  ns = "" )

explicit

Definition at line 47 of file hand_commander.cpp.

shadowrobot::HandCommander::~HandCommander

(

)

Destructor.

Definition at line 89 of file hand_commander.cpp.

Member Function Documentation

std::vector< std::string > shadowrobot::HandCommander::get_all_joints

(

)

Get all the joint names from the robot description. Ideal for looping over all joints.

Returns

A vector of joint names.

Definition at line 192 of file hand_commander.cpp.

std::string shadowrobot::HandCommander::get_controller_state_topic

(

std::string

joint_name

)

Returns the topic name for the controller state of a given joint. Useful for easily subscribing to the corresponding state topic in another node.

Parameters

joint_name

the joint for which you want the topic.

Returns

the full name (fully resolved) of the topic to which you need to subscribe.

Definition at line 205 of file hand_commander.cpp.

std::pair< double, double > shadowrobot::HandCommander::get_min_max

(

std::string

joint_name

)

Reads the min and max for a given joint from the urdf description.

Parameters

joint_name

name of the joint (upper or lower case) (e.g. FFJ3)

Returns

a pair containing first the min then the max for the given joint.

Definition at line 153 of file hand_commander.cpp.

void shadowrobot::HandCommander::initializeEthercatHand ( )

private

init function for the ethercat hand It can be called if we know that there's an ethercat hand (controller_manager running)

Definition at line 93 of file hand_commander.cpp.

void shadowrobot::HandCommander::sendCommands

(

std::vector< sr_robot_msgs::joint >

joint_vector

)

Definition at line 123 of file hand_commander.cpp.

Member Data Documentation

std::map<std::string, boost::shared_ptr<urdf::Joint> > shadowrobot::HandCommander::all_joints

private

stores data about the hand (read from urdf)

Definition at line 104 of file hand_commander.hpp.

bool shadowrobot::HandCommander::ethercat_controllers_found

private

Definition at line 115 of file hand_commander.hpp.

shadowhandRosLib::HandType shadowrobot::HandCommander::hand_type

private

Definition at line 114 of file hand_commander.hpp.

NodeHandle shadowrobot::HandCommander::node_

private

ros node handle

Definition at line 101 of file hand_commander.hpp.

std::map<std::string, std::string> shadowrobot::HandCommander::sr_hand_sub_topics

private

A map of topics for the controller states.

Definition at line 112 of file hand_commander.hpp.

Publisher shadowrobot::HandCommander::sr_hand_target_pub

private

Publisher for the CAN hand targets.

Definition at line 107 of file hand_commander.hpp.

boost::ptr_map<std::string, Publisher> shadowrobot::HandCommander::sr_hand_target_pub_map

private

Publishers for the ethercat hand targets for every joint.

Definition at line 109 of file hand_commander.hpp.

const double shadowrobot::HandCommander::TIMEOUT_TO_DETECT_CONTROLLER_MANAGER = 3.0

staticprivate

Definition at line 123 of file hand_commander.hpp.

---

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

• hand_commander.hpp
• hand_commander.cpp