SchunkServer Class Reference

#include <SchunkServer.h>

Inheritance diagram for SchunkServer:

List of all members.

Public Member Functions
	SchunkServer (ros::NodeHandle &nh)
	~SchunkServer ()
Private Member Functions
void	cb_ack (const std_msgs::Int8::ConstPtr &id)
void	cb_ackAll (const std_msgs::Empty::ConstPtr &dummy)
void	cb_commandTrajectory (const trajectory_msgs::JointTrajectory traj)
void	cb_emergency (const std_msgs::Empty::ConstPtr &dummy)
void	cb_moveAllPosition (const sensor_msgs::JointState::ConstPtr &data)
void	cb_moveAllVelocity (const sensor_msgs::JointState::ConstPtr &data)
void	cb_movePosition (const metralabs_msgs::IDAndFloat::ConstPtr &data)
void	cb_moveVelocity (const metralabs_msgs::IDAndFloat::ConstPtr &data)
void	cb_ref (const std_msgs::Int8::ConstPtr &id)
void	cb_refAll (const std_msgs::Empty::ConstPtr &dummy)
void	cb_setAcceleration (const metralabs_msgs::IDAndFloat::ConstPtr &data)
void	cb_setCurrent (const metralabs_msgs::IDAndFloat::ConstPtr &data)
void	cb_setCurrentsMaxAll (const std_msgs::Empty::ConstPtr &dummy)
void	cb_setVelocity (const metralabs_msgs::IDAndFloat::ConstPtr &data)
void	cb_stop (const std_msgs::Empty::ConstPtr &dummy)
void	init ()
void	publishCurrentJointState ()
void	publishCurrentSchunkStatus ()
void	publishingLoop (ros::Rate loop_rate)
void	renewRobotArm ()
Private Attributes
ros::Subscriber	ack_all_subscriber_
ros::Subscriber	ack_subscriber_
RobotArm *	arm_
urdf::Model	arm_model_
sensor_msgs::JointState	current_JointState_
ros::Publisher	current_JointState_publisher_
metralabs_msgs::SchunkStatus	current_SchunkStatus_
ros::Publisher	current_SchunkStatus_publisher_
ros::Subscriber	emergency_subscriber_
ros::Subscriber	first_ref_subscriber_
std::vector< boost::shared_ptr < urdf::Joint > >	joints_list_
std::map< std::string, RobotArm::IDType >	joints_name_to_number_map_
ros::Subscriber	move_all_position_subscriber_
ros::Subscriber	move_all_velocity_subscriber_
ros::Subscriber	move_position_subscriber_
ros::Subscriber	move_velocity_subscriber_
ros::NodeHandle	node_handle_
ros::Subscriber	ref_all_subscriber_
ros::Subscriber	ref_subscriber_
ros::Subscriber	set_acceleration_subscriber_
ros::Subscriber	set_current_subscriber_
ros::Subscriber	set_currents_max_all_subscriber_
ros::Subscriber	set_velocity_subscriber_
ros::Subscriber	stop_subscriber_
ros::Subscriber	trajectory_command_subscriber_
TrajectoryExecuter	trajectory_executer_
boost::thread	trajectory_executer_thread_

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Detailed Description

Definition at line 459 of file SchunkServer.h.

---

Constructor & Destructor Documentation

SchunkServer::SchunkServer

(

ros::NodeHandle &

nh

)

[inline]

Definition at line 461 of file SchunkServer.h.

SchunkServer::~SchunkServer

(

)

[inline]

Definition at line 469 of file SchunkServer.h.

---

Member Function Documentation

void SchunkServer::cb_ack

(

const std_msgs::Int8::ConstPtr &

id

)

[inline, private]

Definition at line 603 of file SchunkServer.h.

void SchunkServer::cb_ackAll

(

const std_msgs::Empty::ConstPtr &

dummy

)

[inline, private]

Definition at line 608 of file SchunkServer.h.

void SchunkServer::cb_commandTrajectory

(

const trajectory_msgs::JointTrajectory

traj

)

[inline, private]

Definition at line 713 of file SchunkServer.h.

void SchunkServer::cb_emergency

(

const std_msgs::Empty::ConstPtr &

dummy

)

[inline, private]

Definition at line 593 of file SchunkServer.h.

void SchunkServer::cb_moveAllPosition

(

const sensor_msgs::JointState::ConstPtr &

data

)

[inline, private]

Definition at line 658 of file SchunkServer.h.

void SchunkServer::cb_moveAllVelocity

(

const sensor_msgs::JointState::ConstPtr &

data

)

[inline, private]

Definition at line 686 of file SchunkServer.h.

void SchunkServer::cb_movePosition

(

const metralabs_msgs::IDAndFloat::ConstPtr &

data

)

[inline, private]

Definition at line 645 of file SchunkServer.h.

void SchunkServer::cb_moveVelocity

(

const metralabs_msgs::IDAndFloat::ConstPtr &

data

)

[inline, private]

Definition at line 650 of file SchunkServer.h.

void SchunkServer::cb_ref

(

const std_msgs::Int8::ConstPtr &

id

)

[inline, private]

Definition at line 613 of file SchunkServer.h.

void SchunkServer::cb_refAll

(

const std_msgs::Empty::ConstPtr &

dummy

)

[inline, private]

Definition at line 618 of file SchunkServer.h.

void SchunkServer::cb_setAcceleration

(

const metralabs_msgs::IDAndFloat::ConstPtr &

data

)

[inline, private]

Definition at line 629 of file SchunkServer.h.

void SchunkServer::cb_setCurrent

(

const metralabs_msgs::IDAndFloat::ConstPtr &

data

)

[inline, private]

Definition at line 634 of file SchunkServer.h.

void SchunkServer::cb_setCurrentsMaxAll

(

const std_msgs::Empty::ConstPtr &

dummy

)

[inline, private]

Definition at line 639 of file SchunkServer.h.

void SchunkServer::cb_setVelocity

(

const metralabs_msgs::IDAndFloat::ConstPtr &

data

)

[inline, private]

Definition at line 624 of file SchunkServer.h.

void SchunkServer::cb_stop

(

const std_msgs::Empty::ConstPtr &

dummy

)

[inline, private]

Definition at line 598 of file SchunkServer.h.

void SchunkServer::init

(

)

[inline, private]

Definition at line 505 of file SchunkServer.h.

void SchunkServer::publishCurrentJointState

(

)

[inline, private]

Definition at line 733 of file SchunkServer.h.

void SchunkServer::publishCurrentSchunkStatus

(

)

[inline, private]

Definition at line 742 of file SchunkServer.h.

void SchunkServer::publishingLoop

(

ros::Rate

loop_rate

)

[inline, private]

Definition at line 723 of file SchunkServer.h.

void SchunkServer::renewRobotArm

(

)

[inline, private]

Definition at line 478 of file SchunkServer.h.

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Member Data Documentation

ros::Subscriber SchunkServer::ack_all_subscriber_ [private]

Definition at line 772 of file SchunkServer.h.

ros::Subscriber SchunkServer::ack_subscriber_ [private]

Definition at line 771 of file SchunkServer.h.

RobotArm* SchunkServer::arm_ [private]

Definition at line 755 of file SchunkServer.h.

urdf::Model SchunkServer::arm_model_ [private]

Definition at line 756 of file SchunkServer.h.

sensor_msgs::JointState SchunkServer::current_JointState_ [private]

Definition at line 760 of file SchunkServer.h.

ros::Publisher SchunkServer::current_JointState_publisher_ [private]

Definition at line 762 of file SchunkServer.h.

metralabs_msgs::SchunkStatus SchunkServer::current_SchunkStatus_ [private]

Definition at line 761 of file SchunkServer.h.

ros::Publisher SchunkServer::current_SchunkStatus_publisher_ [private]

Definition at line 763 of file SchunkServer.h.

ros::Subscriber SchunkServer::emergency_subscriber_ [private]

Definition at line 768 of file SchunkServer.h.

ros::Subscriber SchunkServer::first_ref_subscriber_ [private]

Definition at line 770 of file SchunkServer.h.

std::vector<boost::shared_ptr<urdf::Joint> > SchunkServer::joints_list_ [private]

Definition at line 757 of file SchunkServer.h.

std::map<std::string, RobotArm::IDType> SchunkServer::joints_name_to_number_map_ [private]

Definition at line 758 of file SchunkServer.h.

ros::Subscriber SchunkServer::move_all_position_subscriber_ [private]

Definition at line 783 of file SchunkServer.h.

ros::Subscriber SchunkServer::move_all_velocity_subscriber_ [private]

Definition at line 784 of file SchunkServer.h.

ros::Subscriber SchunkServer::move_position_subscriber_ [private]

Definition at line 781 of file SchunkServer.h.

ros::Subscriber SchunkServer::move_velocity_subscriber_ [private]

Definition at line 782 of file SchunkServer.h.

ros::NodeHandle SchunkServer::node_handle_ [private]

Definition at line 754 of file SchunkServer.h.

ros::Subscriber SchunkServer::ref_all_subscriber_ [private]

Definition at line 774 of file SchunkServer.h.

ros::Subscriber SchunkServer::ref_subscriber_ [private]

Definition at line 773 of file SchunkServer.h.

ros::Subscriber SchunkServer::set_acceleration_subscriber_ [private]

Definition at line 777 of file SchunkServer.h.

ros::Subscriber SchunkServer::set_current_subscriber_ [private]

Definition at line 778 of file SchunkServer.h.

ros::Subscriber SchunkServer::set_currents_max_all_subscriber_ [private]

Definition at line 779 of file SchunkServer.h.

ros::Subscriber SchunkServer::set_velocity_subscriber_ [private]

Definition at line 776 of file SchunkServer.h.

ros::Subscriber SchunkServer::stop_subscriber_ [private]

Definition at line 769 of file SchunkServer.h.

ros::Subscriber SchunkServer::trajectory_command_subscriber_ [private]

Definition at line 785 of file SchunkServer.h.

TrajectoryExecuter SchunkServer::trajectory_executer_ [private]

Definition at line 765 of file SchunkServer.h.

boost::thread SchunkServer::trajectory_executer_thread_ [private]

Definition at line 766 of file SchunkServer.h.

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The documentation for this class was generated from the following file:

• SchunkServer.h