corobot_arm.cpp File Reference

#include "ros/ros.h"
#include <stdio.h>
#include <math.h>
#include "std_msgs/Float64.h"
#include "corobot_msgs/MoveArm.h"
#include "corobot_msgs/ServoPosition.h"
#include "corobot_msgs/ServoType.h"

Include dependency graph for corobot_arm.cpp:

Go to the source code of this file.

Classes
struct	servo
Enumerations
enum	hardware_controller { arbotix, ssc32, phidget }
enum	servo_type {   base_rotation, shoulder, elbow, wrist_flex,   wrist_rotation, gripper }
Functions
void	init_servos_db (XmlRpc::XmlRpcValue dynamixels, ros::NodeHandle n)
int	main (int argc, char **argv)
void	setServoPosition (const corobot_msgs::MoveArm &msg)
	Topic to move the arm of the Corobot.
Variables
ros::Publisher *	arbotix_publisher = NULL
double	centerOffset
hardware_controller	controller
int	elbowPos
int	gripperPos
int	number_servo = 0
ros::Publisher	position_pub
int	rotationPos
servo *	servos = NULL
int	shoulderPos
ros::Publisher	type_pub
int	wristPos

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Enumeration Type Documentation

enum hardware_controller

Enumerator:

arbotix
ssc32
phidget

Definition at line 20 of file corobot_arm.cpp.

enum servo_type

Enumerator:

base_rotation
shoulder
elbow
wrist_flex
wrist_rotation
gripper

Definition at line 10 of file corobot_arm.cpp.

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Function Documentation

void init_servos_db	(	XmlRpc::XmlRpcValue	dynamixels,
		ros::NodeHandle	n
	)

Definition at line 91 of file corobot_arm.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 191 of file corobot_arm.cpp.

void setServoPosition

(

const corobot_msgs::MoveArm &

msg

)

Topic to move the arm of the Corobot.

Definition at line 46 of file corobot_arm.cpp.

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Variable Documentation

ros::Publisher* arbotix_publisher = NULL

Definition at line 41 of file corobot_arm.cpp.

double centerOffset

Definition at line 37 of file corobot_arm.cpp.

hardware_controller controller

Definition at line 40 of file corobot_arm.cpp.

int elbowPos

Definition at line 35 of file corobot_arm.cpp.

int gripperPos

Definition at line 35 of file corobot_arm.cpp.

int number_servo = 0

Definition at line 39 of file corobot_arm.cpp.

ros::Publisher position_pub

Definition at line 36 of file corobot_arm.cpp.

int rotationPos

Definition at line 35 of file corobot_arm.cpp.

servo* servos = NULL

Definition at line 38 of file corobot_arm.cpp.

int shoulderPos

Definition at line 35 of file corobot_arm.cpp.

ros::Publisher type_pub

Definition at line 36 of file corobot_arm.cpp.

int wristPos

Definition at line 35 of file corobot_arm.cpp.