Contains the main for the real arm. We start the publishers / subscribers in this node. They all share the same RealArm object, this way the subscriber can update the arm 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/real_arm.h"

Include dependency graph for real_arm_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 real arm. We start the publishers / subscribers in this node. They all share the same RealArm object, this way the subscriber can update the arm 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, Contact conta.nosp@m.ct@s.nosp@m.hadow.nosp@m.robo.nosp@m.t.com

Date: Tue Jun 29 14:56:10 2010

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 real_arm_node.cpp.

Function Documentation

int main	(	int	argc,
		char **	argv
	)

The main function initialises this ROS subscriber and sets the different callbacks. This ROS subscriber will listen for new commands and send them to the real robot.

Parameters

argc
argv

Returns: 0 on success

Definition at line 79 of file real_arm_node.cpp.

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

Definition at line 52 of file real_arm_node.cpp.

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

Definition at line 60 of file real_arm_node.cpp.

Functions

Detailed Description

Function Documentation