ros_main.cpp File Reference

#include <ros/ros.h>
#include <chrono>
#include <cstdlib>
#include <string>
#include <thread>
#include "ur_modern_driver/log.h"
#include "ur_modern_driver/pipeline.h"
#include "ur_modern_driver/ros/action_server.h"
#include "ur_modern_driver/ros/controller.h"
#include "ur_modern_driver/ros/io_service.h"
#include "ur_modern_driver/ros/lowbandwidth_trajectory_follower.h"
#include "ur_modern_driver/ros/mb_publisher.h"
#include "ur_modern_driver/ros/rt_publisher.h"
#include "ur_modern_driver/ros/service_stopper.h"
#include "ur_modern_driver/ros/trajectory_follower.h"
#include "ur_modern_driver/ros/urscript_handler.h"
#include "ur_modern_driver/ur/commander.h"
#include "ur_modern_driver/ur/factory.h"
#include "ur_modern_driver/ur/messages.h"
#include "ur_modern_driver/ur/parser.h"
#include "ur_modern_driver/ur/producer.h"
#include "ur_modern_driver/ur/rt_state.h"
#include "ur_modern_driver/ur/state.h"

Include dependency graph for ros_main.cpp:

Go to the source code of this file.

Classes
class	IgnorePipelineStoppedNotifier
struct	ProgArgs
class	ShutdownOnPipelineStoppedNotifier

Functions
static const std::string	BASE_FRAME_ARG ("~base_frame")
std::string	getLocalIPAccessibleFromHost (std::string &host)
static const std::string	IP_ADDR_ARG ("~robot_ip_address")
static const std::string	JOINT_NAMES_PARAM ("hardware_interface/joints")
static const std::string	LOW_BANDWIDTH_TRAJECTORY_FOLLOWER ("~use_lowbandwidth_trajectory_follower")
int	main (int argc, char **argv)
static const std::string	MAX_VEL_CHANGE_ARG ("~max_vel_change")
bool	parse_args (ProgArgs &args)
static const std::string	PREFIX_ARG ("~prefix")
static const std::string	REVERSE_IP_ADDR_ARG ("~reverse_ip_address")
static const std::string	REVERSE_PORT_ARG ("~reverse_port")
static const std::string	ROS_CONTROL_ARG ("~use_ros_control")
static const std::string	SHUTDOWN_ON_DISCONNECT_ARG ("~shutdown_on_disconnect")
static const std::string	TCP_LINK_ARG ("~tcp_link")
static const std::string	TOOL_FRAME_ARG ("~tool_frame")

Variables
static const std::vector< std::string >	DEFAULT_JOINTS
static const int	UR_RT_PORT = 30003
static const int	UR_SECONDARY_PORT = 30002

Function Documentation

static const std::string BASE_FRAME_ARG ( "~base_frame"  )

static

std::string getLocalIPAccessibleFromHost

(

std::string &

host

)

Definition at line 134 of file ros_main.cpp.

static const std::string IP_ADDR_ARG ( "~robot_ip_address"  )

static

static const std::string JOINT_NAMES_PARAM ( "hardware_interface/joints"  )

static

static const std::string LOW_BANDWIDTH_TRAJECTORY_FOLLOWER ( "~use_lowbandwidth_trajectory_follower"  )

static

int main	(	int	argc,
		char **	argv
	)

Definition at line 140 of file ros_main.cpp.

static const std::string MAX_VEL_CHANGE_ARG ( "~max_vel_change"  )

static

bool parse_args

(

ProgArgs &

args

)

Definition at line 112 of file ros_main.cpp.

static const std::string PREFIX_ARG ( "~prefix"  )

static

static const std::string REVERSE_IP_ADDR_ARG ( "~reverse_ip_address"  )

static

static const std::string REVERSE_PORT_ARG ( "~reverse_port"  )

static

static const std::string ROS_CONTROL_ARG ( "~use_ros_control"  )

static

static const std::string SHUTDOWN_ON_DISCONNECT_ARG ( "~shutdown_on_disconnect"  )

static

static const std::string TCP_LINK_ARG ( "~tcp_link"  )

static

static const std::string TOOL_FRAME_ARG ( "~tool_frame"  )

static

Variable Documentation

const std::vector<std::string> DEFAULT_JOINTS

static

Initial value:

= { "shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint",
                                                         "wrist_1_joint",      "wrist_2_joint",       "wrist_3_joint" }

Definition at line 59 of file ros_main.cpp.

const int UR_RT_PORT = 30003

static

Definition at line 63 of file ros_main.cpp.

const int UR_SECONDARY_PORT = 30002

static

Definition at line 62 of file ros_main.cpp.