dynamixel::DynamixelLoop Class Reference

#include <dynamixel_loop.hpp>

Public Member Functions
	DynamixelLoop (ros::NodeHandle &nh, boost::shared_ptr< dynamixel::DynamixelHardwareInterface > hardware_interface)
void	jsCallback (const sensor_msgs::JointState::ConstPtr &js)
void	update (const ros::TimerEvent &e)

Private Attributes
boost::shared_ptr< controller_manager::ControllerManager >	_controller_manager
struct timespec	_current_time
double	_cycle_time_error_threshold
ros::Duration	_desired_update_freq
ros::Duration	_elapsed_time
boost::shared_ptr< dynamixel::DynamixelHardwareInterface >	_hardware_interface
	Abstract Hardware Interface for your robot. More...
struct timespec	_last_time
double	_loop_hz
ros::NodeHandle	_nh
ros::Timer	_non_realtime_loop
sensor_msgs::JointState	joint_state
ros::Subscriber	js_sub
ros::Publisher	torque_pub

Detailed Description

Definition at line 59 of file dynamixel_loop.hpp.

Constructor & Destructor Documentation

dynamixel::DynamixelLoop::DynamixelLoop	(	ros::NodeHandle &	nh,
		boost::shared_ptr< dynamixel::DynamixelHardwareInterface >	hardware_interface
	)

Definition at line 47 of file dynamixel_loop.cpp.

Member Function Documentation

void dynamixel::DynamixelLoop::jsCallback

(

const sensor_msgs::JointState::ConstPtr &

js

)

Definition at line 79 of file dynamixel_loop.cpp.

void dynamixel::DynamixelLoop::update

(

const ros::TimerEvent &

e

)

Timed method that reads current hardware's state, runs the controller code once and sends the new commands to the hardware.

Note: we do not use the TimerEvent time difference because it does NOT guarantee that the time source is strictly linearly increasing.

Definition at line 83 of file dynamixel_loop.cpp.

Member Data Documentation

boost::shared_ptr<controller_manager::ControllerManager> dynamixel::DynamixelLoop::_controller_manager

private

ROS Controller Manager and Runner

This class advertises a ROS interface for loading, unloading, starting, and stopping ros_control-based controllers. It also serializes execution of all running controllers in update.

Definition at line 98 of file dynamixel_loop.hpp.

struct timespec dynamixel::DynamixelLoop::_current_time

private

Definition at line 90 of file dynamixel_loop.hpp.

double dynamixel::DynamixelLoop::_cycle_time_error_threshold

private

Definition at line 81 of file dynamixel_loop.hpp.

ros::Duration dynamixel::DynamixelLoop::_desired_update_freq

private

Definition at line 80 of file dynamixel_loop.hpp.

ros::Duration dynamixel::DynamixelLoop::_elapsed_time

private

Definition at line 87 of file dynamixel_loop.hpp.

boost::shared_ptr<dynamixel::DynamixelHardwareInterface> dynamixel::DynamixelLoop::_hardware_interface

private

Abstract Hardware Interface for your robot.

Definition at line 101 of file dynamixel_loop.hpp.

struct timespec dynamixel::DynamixelLoop::_last_time

private

Definition at line 89 of file dynamixel_loop.hpp.

double dynamixel::DynamixelLoop::_loop_hz

private

Definition at line 88 of file dynamixel_loop.hpp.

ros::NodeHandle dynamixel::DynamixelLoop::_nh

private

Definition at line 75 of file dynamixel_loop.hpp.

ros::Timer dynamixel::DynamixelLoop::_non_realtime_loop

private

Definition at line 86 of file dynamixel_loop.hpp.

sensor_msgs::JointState dynamixel::DynamixelLoop::joint_state

private

Definition at line 77 of file dynamixel_loop.hpp.

ros::Subscriber dynamixel::DynamixelLoop::js_sub

private

Definition at line 78 of file dynamixel_loop.hpp.

ros::Publisher dynamixel::DynamixelLoop::torque_pub

private

Definition at line 83 of file dynamixel_loop.hpp.

---

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

• dynamixel_loop.hpp
• dynamixel_loop.cpp