kinton_arm_node.h
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00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
00002 // Author 
00003 // All rights reserved.
00004 //
00005 // This file is part of iri-ros-pkg
00006 // iri-ros-pkg is free software: you can redistribute it and/or modify
00007 // it under the terms of the GNU Lesser General Public License as published by
00008 // the Free Software Foundation, either version 3 of the License, or
00009 // at your option) any later version.
00010 //
00011 // This program is distributed in the hope that it will be useful,
00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014 // GNU Lesser General Public License for more details.
00015 //
00016 // You should have received a copy of the GNU Lesser General Public License
00017 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
00018 // 
00019 // IMPORTANT NOTE: This code has been generated through a script from the 
00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
00021 // of the scripts. ROS topics can be easly add by using those scripts. Please
00022 // refer to the IRI wiki page for more information:
00023 // http://wikiri.upc.es/index.php/Robotics_Lab
00024 
00025 #ifndef _kinton_arm_rosdriver_node_h_
00026 #define _kinton_arm_rosdriver_node_h_
00027 
00028 #include <iri_base_driver/iri_base_driver_node.h>
00029 #include "kinton_arm.h"
00030 
00031 #include <iostream>
00032 #include <vector>
00033 
00034 // [publisher subscriber headers]
00035 #include <sensor_msgs/JointState.h>
00036 
00037 // [service client headers]
00038 
00039 // [action server client headers]
00040 
00058 class KintonArmDriverNode : public iri_base_driver::IriBaseNodeDriver<KintonArmDriver>
00059 {
00060   private:
00061     // [publisher attributes]
00062     ros::Publisher arm_joint_feedback_publisher_;
00063     sensor_msgs::JointState JointState_msg_;
00064 
00065     // [subscriber attributes]
00066     ros::Subscriber arm_joint_pos_subscriber_;
00067     void arm_joint_pos_callback(const sensor_msgs::JointState::ConstPtr& msg);
00068     CMutex arm_joint_pos_mutex_;
00069 
00070     vector<int> new_pos_;
00071 
00072     // [service attributes]
00073 
00074     // [client attributes]
00075 
00076     // [action server attributes]
00077 
00078     // [action client attributes]
00079 
00080     int servo_1_pos_,servo_2_pos_,servo_3_pos_,servo_4_pos_,servo_5_pos_;
00081 
00089     void postNodeOpenHook(void);
00090 
00091   public:
00109     KintonArmDriverNode(ros::NodeHandle& nh);
00110 
00117     ~KintonArmDriverNode(void);
00118 
00119   protected:
00120 
00133     void mainNodeThread(void);
00134 
00135     // [diagnostic functions]
00136 
00147     void addNodeDiagnostics(void);
00148 
00149     // [driver test functions]
00150 
00160     void addNodeOpenedTests(void);
00161 
00171     void addNodeStoppedTests(void);
00172 
00182     void addNodeRunningTests(void);
00183 
00191     void reconfigureNodeHook(int level);
00192 
00193 };
00194 
00195 #endif
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kinton_arm
Author(s): asantamaria
autogenerated on Sat Sep 21 2013 12:13:00