Contains the main for the EtherCAT wrapper. We start the publishers / subscribers in this node. They all share the same EtherCATCompatibilityHand object, this way the subscriber can update the hand properties, while the publishers publish up to date data. The diagnostics and the other publisher are started in two different threads, to allow them to be published at different frequencies. More...

#include <ros/ros.h>
#include <boost/thread/thread.hpp>
#include <boost/smart_ptr.hpp>
#include "sr_hand/sr_subscriber.h"
#include "sr_hand/sr_publisher.h"
#include "sr_hand/sr_diagnosticer.h"
#include "sr_hand/hand/etherCAT_compatibility_hand.hpp"

Include dependency graph for etherCAT_compatibility_hand_node.cpp:

Go to the source code of this file.

Functions
int	main (int argc, char **argv)

void	run_diagnotics (boost::shared_ptr< SRDiagnosticer > shadowhand_diag)

void	run_publisher (boost::shared_ptr< SRPublisher > shadowhand_pub)

Detailed Description

Contains the main for the EtherCAT wrapper. We start the publishers / subscribers in this node. They all share the same EtherCATCompatibilityHand object, this way the subscriber can update the hand properties, while the publishers publish up to date data. The diagnostics and the other publisher are started in two different threads, to allow them to be published at different frequencies.

Author: Ugo Cupcic ugo@s.nosp@m.hado.nosp@m.wrobo.nosp@m.t.co.nosp@m.m

Date: Mon Aug 22 11:17:33 2011

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.

Definition in file etherCAT_compatibility_hand_node.cpp.

Function Documentation

int main	(	int	argc,
		char **	argv
	)

The main function initializes the links with the robot, initializes this ROS subscriber and sets the different callbacks. This ROS subscriber will listen for new commands and send them to the robot.

Parameters

argc
argv

Returns: 0 on success

Definition at line 80 of file etherCAT_compatibility_hand_node.cpp.

void run_diagnotics ( boost::shared_ptr< SRDiagnosticer > shadowhand_diag )

Definition at line 52 of file etherCAT_compatibility_hand_node.cpp.

void run_publisher ( boost::shared_ptr< SRPublisher > shadowhand_pub )

Definition at line 60 of file etherCAT_compatibility_hand_node.cpp.

Functions

Detailed Description

Function Documentation