Node for controlling the ARM. More...

#include <arm_control.h>

Public Member Functions
	ArmControl ()
	Calls the init and run methods.
Private Member Functions
void	cartesianMovesCallback (const arm::cartesian_moves::ConstPtr &cmd)
	Callback for cartesian movement messages.
void	constantMoveCallback (const arm::constant_move::ConstPtr &cmd)
	Callback for constant movement messages.
void	constantMoveTimeCallback (const arm::constant_move_time::ConstPtr &cmd)
	Callback for constant movement by time messages.
void	init ()
	Initializes the node.
void	run ()
	Runs the node in a loop until a shutdown message is received.
Private Attributes
ManusArm *	arm_
CartesianMove	cartesian_move_
ros::Subscriber	cartesian_sub_
ConstantMove	constant_move_
ros::Subscriber	constant_sub_
ros::Subscriber	constant_time_sub_
ros::NodeHandle	n_
bool	shutdown_
ros::ServiceClient	time_client_

Detailed Description

Node for controlling the ARM.

This node receives movement commands from teleop nodes and moves the arm hardware appropriately. The operation of the node is autonomous; after the object has been created, the node will run with no further operation.

Copyright:: Copyright 2013 University of Massachusetts Lowell

Author:: Jonathan Hasenzahl

Definition at line 30 of file arm_control.h.

Constructor & Destructor Documentation

ArmControl::ArmControl ( )

Calls the init and run methods.

Definition at line 14 of file arm_control.cpp.

Member Function Documentation

void ArmControl::cartesianMovesCallback ( const arm::cartesian_moves::ConstPtr & cmd ) [private]

Callback for cartesian movement messages.

This method is called automatically when the node receives a cartesian movement message. The received message contains an array of cartesian moves and an ending time. The time server is polled to compare actual time to the ending time, and the arm will be moved, in sequence, according to the array of moves while time is remaining. If there is no time remaining, further moves are not executed and the callback exits.

Parameters:

cmd	the received message

Definition at line 113 of file arm_control.cpp.

void ArmControl::constantMoveCallback ( const arm::constant_move::ConstPtr & cmd ) [private]

Callback for constant movement messages.

This method is called automatically when the node receives a constant movement message. This message usually used for direct user control, such as operation with a keyboard. The received message contains position and speed data, and the callback will move the arm appropriately. The message also contains a query flag (the method will print movement data to the screen) and a quit flag (the method set the shutdown flag to true, causing the node to shutdown).

Parameters:

cmd	the received message

Definition at line 168 of file arm_control.cpp.

void ArmControl::constantMoveTimeCallback ( const arm::constant_move_time::ConstPtr & cmd ) [private]

Callback for constant movement by time messages.

This method is called automatically when the node receives a cartesian movement by time message. This method is similar in operation to the cartesian movement callback, instead using constant movements.

Parameters:

cmd	the received message

Definition at line 197 of file arm_control.cpp.

void ArmControl::init ( ) [private]

Initializes the node.

There are two functions of the init method: it first subscribes to the necessary ROS topics to receive movement commands, and it then initializes the arm hardware.

Definition at line 27 of file arm_control.cpp.

void ArmControl::run ( ) [private]

Runs the node in a loop until a shutdown message is received.

Before the main loop, the arm is moved into its origin position. The method then enters a spin loop until the shutdown flag is set to true (via a ROS message) or Ctrl+C is pressed. After the loop exits, the arm is moved into its final position.

Definition at line 63 of file arm_control.cpp.