dsr_control_node.cpp
/tmp/ws/src/doosan_robot/dsr_control/src/
dsr__control__node_8cpp
dsr_control/dsr_hw_interface.h
int
main
dsr__control__node_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
void
SigHandler
dsr__control__node_8cpp.html
aa29ba5f05a02ff1fc23257db59722aea
(int sig)
int
g_nKill_dsr_control
dsr__control__node_8cpp.html
a6af71d4e01db2ebd1c5c2b15bfc6f49b
dsr_hw_interface.cpp
/tmp/ws/src/doosan_robot/dsr_control/src/
dsr__hw__interface_8cpp
dsr_control/dsr_hw_interface.h
dsr_control
#define
DSR_CTL_PUB_RATE
dsr__hw__interface_8cpp.html
a2ea43b7e0fc5f944d687f5673661cb74
#define
STABLE_BAND_JNT
dsr__hw__interface_8cpp.html
a99b57d35702df4233fc85daeaf9f73c1
const char *
GetRobotStateString
namespacedsr__control.html
aa2daf33e1fbc5d2b052cc68f05f0f36d
(int nState)
int
IsInposition
namespacedsr__control.html
a163429df64a6d3313efc37338ed4d7b2
(double dCurPosDeg[], double dCmdPosDeg[])
void
MsgScriber
namespacedsr__control.html
aee2183d1ba955688f852d98947a8fa09
(const dsr_msgs::RobotStop::ConstPtr &msg)
CDRFL
Drfl
dsr__hw__interface_8cpp.html
a7134039da8fa51866a7228d2e4efd38c
bool
g_bHasControlAuthority
dsr__hw__interface_8cpp.html
ae5bde77f25adb1ec55132452242b631d
bool
g_bHommingCompleted
dsr__hw__interface_8cpp.html
acda4fb2901b742cf6cb03cd533616b33
bool
g_bTpInitailizingComplted
dsr__hw__interface_8cpp.html
ade1795ee6c37579adfe129a9eab3e98a
DR_ERROR
g_stDrError
dsr__hw__interface_8cpp.html
a9092bd8e8db7bf2ee7c652a7b3f50e0a
DR_STATE
g_stDrState
dsr__hw__interface_8cpp.html
ae4820fe763427c7b84fcee9017dc1e87
Serial_comm
ser_comm
dsr__hw__interface_8cpp.html
abef67d8bdda968c90698320f8ae74483
dsr_hw_interface.h
/tmp/ws/src/doosan_robot/dsr_control/include/dsr_control/
dsr__hw__interface_8h
DR_ERROR
DR_STATE
dsr_control::DRHWInterface
dsr_control::DRHWInterface::Joint
dsr_control
#define
deg2rad
dsr__hw__interface_8h.html
a894738198a00b6a55e87799c0f8712bb
(deg)
#define
PI
dsr__hw__interface_8h.html
a598a3330b3c21701223ee0ca14316eca
#define
rad2deg
dsr__hw__interface_8h.html
aa0a2b2d4d920457dad62bbe8e268850e
(rad)
struct DR_ERROR *
LPDR_ERROR
dsr__hw__interface_8h.html
a97255de774e22a54ee8b91d34e62b3ed
struct DR_STATE *
LPDR_STATE
dsr__hw__interface_8h.html
ad459e464507c626db1b099aff648e839
DR_ERROR
structDR__ERROR.html
int
nCode
structDR__ERROR.html
ad3ff9d4094f4ea9d84862ede3fbbd91d
int
nGroup
structDR__ERROR.html
a3f00e8d1b59eb5444ce1765a1904d122
int
nLevel
structDR__ERROR.html
a3e3fae62caf047ccaef15d7c0b8f7c1f
char
strMsg1
structDR__ERROR.html
ae6aa49ddc514a8335b5a210cb41343c3
[MAX_STRING_SIZE]
char
strMsg2
structDR__ERROR.html
a193cbb43649d6cd099522e7c6e494490
[MAX_STRING_SIZE]
char
strMsg3
structDR__ERROR.html
aca8fead880ef4809111e0e039372bec2
[MAX_STRING_SIZE]
DR_STATE
structDR__STATE.html
bool
bDisconnected
structDR__STATE.html
a91ce834d4b905567ec6ed7a80b0cab6f
bool
bDrlStopped
structDR__STATE.html
af0ab86134b1f7e5c62f42c62dfadcf5b
bool
bHommingCompleted
structDR__STATE.html
adc80889b445a41f34583f7c549cab1db
bool
bMasteringNeed
structDR__STATE.html
a5478d659eeef4a73235def6efc1f754e
bool
bTpInitialized
structDR__STATE.html
a67cc7a44328bba1ccdf4b91a9ee28f65
float
fCurrentPosj
structDR__STATE.html
ae766acc2de58346ea19e9f381e6bd4d8
[NUM_JOINT]
float
fCurrentPosx
structDR__STATE.html
a4662d9536d20783231e407ccdd3ffc7e
[NUM_TASK]
int
nAccessControl
structDR__STATE.html
a2451036e694fab9f7c0ea04d25bc1ba4
int
nIoControlBox
structDR__STATE.html
a0f5b5559e0d2c18a22de7c31ce3e1180
int
nRobotState
structDR__STATE.html
a42d97ffa2908b1a20c6ca3e0066fc7aa
int
nSpeed
structDR__STATE.html
a6c53c0b6c539acb761902fcbe340bd66
char
strRobotState
structDR__STATE.html
ab245095c9673e145427ca1a3739f3152
[MAX_SYMBOL_SIZE]
dsr_control::DRHWInterface
classdsr__control_1_1DRHWInterface.html
hardware_interface::RobotHW
dsr_control::DRHWInterface::Joint
DRHWInterface
classdsr__control_1_1DRHWInterface.html
abc21480f75778aa6f3580bfa63223152
(ros::NodeHandle &nh)
bool
init
classdsr__control_1_1DRHWInterface.html
a9f93aef609d3abb1e45ec5fcfb1192cf
()
int
MsgPublisher_RobotState
classdsr__control_1_1DRHWInterface.html
a6b3fc8fe6c2e6d16a85149a093709309
()
virtual void
read
classdsr__control_1_1DRHWInterface.html
a6023e794581ab9deb6e5491004d732f4
(ros::Duration &elapsed_time)
virtual void
write
classdsr__control_1_1DRHWInterface.html
a5cb7e28c88098077c6b58e8a41466852
(ros::Duration &elapsed_time)
virtual
~DRHWInterface
classdsr__control_1_1DRHWInterface.html
adc8f713aaf673c8536af0bb32b6c534c
()
static void
OnHommingCompletedCB
classdsr__control_1_1DRHWInterface.html
a83ae4e335080f2b55039f1f8b9ab86d5
()
static void
OnLogAlarm
classdsr__control_1_1DRHWInterface.html
a55b9daf945d3214c1aad5e42ec37c9f1
(LPLOG_ALARM pLogAlarm)
static void
OnMonitoringAccessControlCB
classdsr__control_1_1DRHWInterface.html
a2db3f6418d439974557429add63574ce
(const MONITORING_ACCESS_CONTROL eAccCtrl)
static void
OnMonitoringCtrlIOCB
classdsr__control_1_1DRHWInterface.html
aed75edb151fc64c538fe515fb1db58c0
(const LPMONITORING_CTRLIO pCtrlIO)
static void
OnMonitoringDataCB
classdsr__control_1_1DRHWInterface.html
ae759fc6ffbe8a653eca3dbcf9bbb57c7
(const LPMONITORING_DATA pData)
static void
OnMonitoringModbusCB
classdsr__control_1_1DRHWInterface.html
a6ef61e9e84e738d8a623823ca70bbd4d
(const LPMONITORING_MODBUS pModbus)
static void
OnMonitoringStateCB
classdsr__control_1_1DRHWInterface.html
a5f0ef99573f9cc474786784cdeac3984
(const ROBOT_STATE eState)
static void
OnProgramStoppedCB
classdsr__control_1_1DRHWInterface.html
aeaf678ab19462283afe7efb94799279c
(const PROGRAM_STOP_CAUSE iStopCause)
static void
OnTpInitializingCompletedCB
classdsr__control_1_1DRHWInterface.html
ae8f18f9d20037385cf0e443c291d5c57
()
bool
config_create_modbus_cb
classdsr__control_1_1DRHWInterface.html
a549e561e4e06d05276f66480a275a6a8
(dsr_msgs::ConfigCreateModbus::Request &req, dsr_msgs::ConfigCreateModbus::Response &res)
bool
config_create_tcp_cb
classdsr__control_1_1DRHWInterface.html
ae566317e2ccd2dedc295568ed6ce23cf
(dsr_msgs::ConfigCreateTcp::Request &req, dsr_msgs::ConfigCreateTcp::Response &res)
bool
config_create_tool_cb
classdsr__control_1_1DRHWInterface.html
abb9fe80430182dca5b02ef0ded31deae
(dsr_msgs::ConfigCreateTool::Request &req, dsr_msgs::ConfigCreateTool::Response &res)
bool
config_delete_modbus_cb
classdsr__control_1_1DRHWInterface.html
a8fcc0a88053f23922d63756fac70c374
(dsr_msgs::ConfigDeleteModbus::Request &req, dsr_msgs::ConfigDeleteModbus::Response &res)
bool
config_delete_tcp_cb
classdsr__control_1_1DRHWInterface.html
a519dcafa2e2b840f60ae99433c0dfa84
(dsr_msgs::ConfigDeleteTcp::Request &req, dsr_msgs::ConfigDeleteTcp::Response &res)
bool
config_delete_tool_cb
classdsr__control_1_1DRHWInterface.html
af6eb487a9a9d7690207a89d0e29d997b
(dsr_msgs::ConfigDeleteTool::Request &req, dsr_msgs::ConfigDeleteTool::Response &res)
bool
drl_pause_cb
classdsr__control_1_1DRHWInterface.html
a8fde39796ea665082ecc88220e21da68
(dsr_msgs::DrlPause::Request &req, dsr_msgs::DrlPause::Response &res)
bool
drl_resume_cb
classdsr__control_1_1DRHWInterface.html
a45c5ab2736a29af6aa0bee6a53470208
(dsr_msgs::DrlResume::Request &req, dsr_msgs::DrlResume::Response &res)
bool
drl_start_cb
classdsr__control_1_1DRHWInterface.html
a4c753292d15feb7722d48a1a89ab3016
(dsr_msgs::DrlStart::Request &req, dsr_msgs::DrlStart::Response &res)
bool
drl_stop_cb
classdsr__control_1_1DRHWInterface.html
a8bb2ec97a0bebf51a92596043a057567
(dsr_msgs::DrlStop::Request &req, dsr_msgs::DrlStop::Response &res)
bool
get_analog_input_cb
classdsr__control_1_1DRHWInterface.html
a20a884d76c4f045f3025d21fd065cdb3
(dsr_msgs::GetCtrlBoxAnalogInput::Request &req, dsr_msgs::GetCtrlBoxAnalogInput::Response &res)
bool
get_current_tcp_cb
classdsr__control_1_1DRHWInterface.html
a114a7f124cacbd7b553602bbbf836b95
(dsr_msgs::GetCurrentTcp::Request &req, dsr_msgs::GetCurrentTcp::Response &res)
bool
get_current_tool_cb
classdsr__control_1_1DRHWInterface.html
aebb60f4a13e81744a69ec86b45d0ce9e
(dsr_msgs::GetCurrentTool::Request &req, dsr_msgs::GetCurrentTool::Response &res)
bool
get_digital_input_cb
classdsr__control_1_1DRHWInterface.html
a506dbefdeb1f37fe4e2199483ac0721f
(dsr_msgs::GetCtrlBoxDigitalInput::Request &req, dsr_msgs::GetCtrlBoxDigitalInput::Response &res)
bool
get_modbus_input_cb
classdsr__control_1_1DRHWInterface.html
ad48893105fcbe527500f930cefb1477b
(dsr_msgs::GetModbusInput::Request &req, dsr_msgs::GetModbusInput::Response &res)
bool
get_tool_digital_input_cb
classdsr__control_1_1DRHWInterface.html
a5929e892b0e6745cd0a50a382495f20f
(dsr_msgs::GetToolDigitalInput::Request &req, dsr_msgs::GetToolDigitalInput::Response &res)
bool
moveb_cb
classdsr__control_1_1DRHWInterface.html
af17da56c430bc2bd54d2878f3c7f7a98
(dsr_msgs::MoveBlending::Request &req, dsr_msgs::MoveBlending::Response &res)
bool
movec_cb
classdsr__control_1_1DRHWInterface.html
a1d806b0847bdd729dab61eae4d761564
(dsr_msgs::MoveCircle::Request &req, dsr_msgs::MoveCircle::Response &res)
bool
movej_cb
classdsr__control_1_1DRHWInterface.html
a69599ee3fe9ceff0a56b9dc9a9671982
(dsr_msgs::MoveJoint::Request &req, dsr_msgs::MoveJoint::Response &res)
bool
movejx_cb
classdsr__control_1_1DRHWInterface.html
a61009743fd675cc7999e6c5b3272cdfb
(dsr_msgs::MoveJointx::Request &req, dsr_msgs::MoveJointx::Response &res)
bool
movel_cb
classdsr__control_1_1DRHWInterface.html
a0e408913d86ff48bad9fd59b0954dd25
(dsr_msgs::MoveLine::Request &req, dsr_msgs::MoveLine::Response &res)
bool
moveperiodic_cb
classdsr__control_1_1DRHWInterface.html
a208b5fa309eb965f1004da090db0bbe5
(dsr_msgs::MovePeriodic::Request &req, dsr_msgs::MovePeriodic::Response &res)
bool
movesj_cb
classdsr__control_1_1DRHWInterface.html
a02dc7b7a1db88b081944c7fbc5d20f85
(dsr_msgs::MoveSplineJoint::Request &req, dsr_msgs::MoveSplineJoint::Response &res)
bool
movespiral_cb
classdsr__control_1_1DRHWInterface.html
a0bfd4877e0fbc9160fd31b9901b89459
(dsr_msgs::MoveSpiral::Request &req, dsr_msgs::MoveSpiral::Response &res)
bool
movesx_cb
classdsr__control_1_1DRHWInterface.html
a3a45dbd3dcfeb9fcbb2c7c6718caa308
(dsr_msgs::MoveSplineTask::Request &req, dsr_msgs::MoveSplineTask::Response &res)
bool
movewait_cb
classdsr__control_1_1DRHWInterface.html
aa46f0f26b169c67009758e6dad155cf4
(dsr_msgs::MoveWait::Request &req, dsr_msgs::MoveWait::Response &res)
void
positionCallback
classdsr__control_1_1DRHWInterface.html
a0812ef1546bfeacd4bb0a5a6ad0d3257
(const std_msgs::Float64MultiArray::ConstPtr &msg)
bool
robotiq_2f_close_cb
classdsr__control_1_1DRHWInterface.html
a736a25bf97a3119c4385dd801cef19c1
(dsr_msgs::Robotiq2FClose::Request &req, dsr_msgs::Robotiq2FClose::Response &res)
bool
robotiq_2f_move_cb
classdsr__control_1_1DRHWInterface.html
afa6beca476f209a65d3a9ff1673e123b
(dsr_msgs::Robotiq2FMove::Request &req, dsr_msgs::Robotiq2FMove::Response &res)
bool
robotiq_2f_open_cb
classdsr__control_1_1DRHWInterface.html
a493b9a73f3ab8aaa97b7e6490054029e
(dsr_msgs::Robotiq2FOpen::Request &req, dsr_msgs::Robotiq2FOpen::Response &res)
bool
serial_close_cb
classdsr__control_1_1DRHWInterface.html
a9c9d7023c3fa29a3910e0f7dae3bdf4a
(dsr_msgs::SerialClose::Request &req, dsr_msgs::SerialClose::Response &res)
bool
serial_open_cb
classdsr__control_1_1DRHWInterface.html
ad6e5f2095ad5dc687f74cc94fc334eaf
(dsr_msgs::SerialOpen::Request &req, dsr_msgs::SerialOpen::Response &res)
bool
serial_send_data_cb
classdsr__control_1_1DRHWInterface.html
a2158397bf935621b87edbbbcd06ab55a
(dsr_msgs::SerialSendData::Request &req, dsr_msgs::SerialSendData::Response &res)
bool
set_analog_input_type_cb
classdsr__control_1_1DRHWInterface.html
a0543b207342792cb397f22edcfd99efe
(dsr_msgs::SetCtrlBoxAnalogInputType::Request &req, dsr_msgs::SetCtrlBoxAnalogInputType::Response &res)
bool
set_analog_output_cb
classdsr__control_1_1DRHWInterface.html
aad081377b9682e36e4b09461e7e47d0e
(dsr_msgs::SetCtrlBoxAnalogOutput::Request &req, dsr_msgs::SetCtrlBoxAnalogOutput::Response &res)
bool
set_analog_output_type_cb
classdsr__control_1_1DRHWInterface.html
aae37cf8df30bc678591f2a22e8ee6d17
(dsr_msgs::SetCtrlBoxAnalogOutputType::Request &req, dsr_msgs::SetCtrlBoxAnalogOutputType::Response &res)
bool
set_current_tcp_cb
classdsr__control_1_1DRHWInterface.html
a8abd8070700028ffdc56ee818a7b44c5
(dsr_msgs::SetCurrentTcp::Request &req, dsr_msgs::SetCurrentTcp::Response &res)
bool
set_current_tool_cb
classdsr__control_1_1DRHWInterface.html
adaaa543a937a69150267dcf2ba8504ed
(dsr_msgs::SetCurrentTool::Request &req, dsr_msgs::SetCurrentTool::Response &res)
bool
set_digital_output_cb
classdsr__control_1_1DRHWInterface.html
a1bab2f96aebd9fe90a4884132414387a
(dsr_msgs::SetCtrlBoxDigitalOutput::Request &req, dsr_msgs::SetCtrlBoxDigitalOutput::Response &res)
bool
set_modbus_output_cb
classdsr__control_1_1DRHWInterface.html
a2a54467ab1cc3b5f95dece601aeae3cf
(dsr_msgs::SetModbusOutput::Request &req, dsr_msgs::SetModbusOutput::Response &res)
bool
set_tool_digital_output_cb
classdsr__control_1_1DRHWInterface.html
a4246b9e24648ab0905ba8151c46bc6f2
(dsr_msgs::SetToolDigitalOutput::Request &req, dsr_msgs::SetToolDigitalOutput::Response &res)
void
sigint_handler
classdsr__control_1_1DRHWInterface.html
ad7d2738cc9099cb34961ca70b17da071
(int signo)
void
trajectoryCallback
classdsr__control_1_1DRHWInterface.html
a0d27f4cc47388032e90d25e3a676d6b3
(const control_msgs::FollowJointTrajectoryActionGoal::ConstPtr &msg)
static void
thread_publisher
classdsr__control_1_1DRHWInterface.html
a020d76042054cf7a782f25cb38de67ad
(DRHWInterface *pDRHWInterface, ros::NodeHandle nh, int nPubRate)
static void
thread_subscribe
classdsr__control_1_1DRHWInterface.html
ad2b8d6d090c1ddcaa8c93c651ec4ec3d
(ros::NodeHandle nh)
bool
bCommand_
classdsr__control_1_1DRHWInterface.html
a41166f5560e639867ef6e5112939770a
std::array< float, NUM_JOINT >
cmd_
classdsr__control_1_1DRHWInterface.html
acab4eefeed11fd38cad20b3cf09a154b
hardware_interface::PositionJointInterface
jnt_pos_interface
classdsr__control_1_1DRHWInterface.html
a17abe7d9b45ad238845cfbd500cf594c
hardware_interface::JointStateInterface
jnt_state_interface
classdsr__control_1_1DRHWInterface.html
abe3bae9326462a347da91101991b4d0b
struct dsr_control::DRHWInterface::Joint
joints
classdsr__control_1_1DRHWInterface.html
ab5a7c581a5279aa37f3968364eb62b3e
[NUM_JOINT]
ros::ServiceServer
m_nh_drl_service
classdsr__control_1_1DRHWInterface.html
a19f51c88445330ba53b9a6c183e27b66
[4]
ros::ServiceServer
m_nh_gripper_service
classdsr__control_1_1DRHWInterface.html
a0e1b8700ce1c4c1e0bbd924a21082898
[10]
ros::ServiceServer
m_nh_io_service
classdsr__control_1_1DRHWInterface.html
ace42b741f53ff83c0c002dff64154d38
[8]
ros::ServiceServer
m_nh_modbus_service
classdsr__control_1_1DRHWInterface.html
aa218dc0ae2bc889981b1394c91f7cb76
[4]
ros::ServiceServer
m_nh_move_service
classdsr__control_1_1DRHWInterface.html
a479eac3ce42a1ba971f00825d7e1dbf3
[10]
ros::ServiceServer
m_nh_serial_service
classdsr__control_1_1DRHWInterface.html
a61d872757bca6c7704eb26e1d5d3edaf
[4]
ros::ServiceServer
m_nh_tcp_service
classdsr__control_1_1DRHWInterface.html
a2993e2ebea34b5175e3c29e2e65bbf68
[4]
ros::ServiceServer
m_nh_tool_service
classdsr__control_1_1DRHWInterface.html
acd193aed166f792be0a0930634ddb370
[4]
ros::Publisher
m_PubRobotError
classdsr__control_1_1DRHWInterface.html
a2799ba83359b018c8312f7670789401d
ros::Publisher
m_PubRobotState
classdsr__control_1_1DRHWInterface.html
ad96ac7827264c01f329441264d61354f
ros::Publisher
m_PubSerialWrite
classdsr__control_1_1DRHWInterface.html
a6a466e89aea5b3167410356eba8e682e
ros::Publisher
m_PubtoGazebo
classdsr__control_1_1DRHWInterface.html
a8c63f56366c3b6b7b4925b4531f1ec6c
DR_ERROR
m_stDrError
classdsr__control_1_1DRHWInterface.html
a988e240a8a1db9434588e40933e8d74b
DR_STATE
m_stDrState
classdsr__control_1_1DRHWInterface.html
a9a9706479de50b5ce4740d821d586328
std::string
m_strRobotGripper
classdsr__control_1_1DRHWInterface.html
acb532b8f9827faf80a4dc42359baca3a
std::string
m_strRobotModel
classdsr__control_1_1DRHWInterface.html
ac15b0c676d406bc585ce1847e72a04f3
std::string
m_strRobotName
classdsr__control_1_1DRHWInterface.html
aadc5c8e781d088eb8f58cc1e96661c44
ros::Subscriber
m_sub_joint_position
classdsr__control_1_1DRHWInterface.html
a9b34879d1a53776460df30847873927e
ros::Subscriber
m_sub_joint_trajectory
classdsr__control_1_1DRHWInterface.html
af9510505a95967cdb76345fcbb998955
ros::Subscriber
m_SubSerialRead
classdsr__control_1_1DRHWInterface.html
ae85c3de8aebd743dd824b424cf96bad1
boost::thread
m_th_publisher
classdsr__control_1_1DRHWInterface.html
ab340905e30dc94b60599df90f265d0e3
boost::thread
m_th_subscribe
classdsr__control_1_1DRHWInterface.html
a5cbc32fab7c921c731a5b9d64c084e92
ros::NodeHandle
private_nh_
classdsr__control_1_1DRHWInterface.html
a208fd3e0a8b7c5d8f67fda7235f33f46
hardware_interface::VelocityJointInterface
velocity_joint_interface_
classdsr__control_1_1DRHWInterface.html
aa4e58dd3977a1856ae6c2ddbd16bce74
dsr_control::DRHWInterface::Joint
structdsr__control_1_1DRHWInterface_1_1Joint.html
Joint
structdsr__control_1_1DRHWInterface_1_1Joint.html
a55f560048eb38d303c1b082ce1cb07c4
()
double
cmd
structdsr__control_1_1DRHWInterface_1_1Joint.html
a1dde9acb3aac4d1ca7efb4ce4c5734ae
double
eff
structdsr__control_1_1DRHWInterface_1_1Joint.html
a3ff4a202091ade2f74bdd9d2aab375d5
double
pos
structdsr__control_1_1DRHWInterface_1_1Joint.html
a4387f36d97dd3aa9485bd1a58627b4e3
double
vel
structdsr__control_1_1DRHWInterface_1_1Joint.html
a80f99a72a3f821e994567351f0b88038
dsr_control
namespacedsr__control.html
dsr_control::DRHWInterface
const char *
GetRobotStateString
namespacedsr__control.html
aa2daf33e1fbc5d2b052cc68f05f0f36d
(int nState)
int
IsInposition
namespacedsr__control.html
a163429df64a6d3313efc37338ed4d7b2
(double dCurPosDeg[], double dCmdPosDeg[])
void
MsgScriber
namespacedsr__control.html
aee2183d1ba955688f852d98947a8fa09
(const dsr_msgs::RobotStop::ConstPtr &msg)