#include "ros/ros.h"
#include "std_msgs/Bool.h"
#include "std_srvs/Empty.h"
#include "brics_actuator/JointPositions.h"
#include "sensor_msgs/JointState.h"
#include "geometry_msgs/Twist.h"
#include "control_msgs/FollowJointTrajectoryActionGoal.h"
#include "move_base_msgs/MoveBaseActionGoal.h"
#include "actionlib_msgs/GoalID.h"
#include <boost/units/systems/si/length.hpp>
#include <boost/units/systems/si/plane_angle.hpp>
#include <boost/units/io.hpp>
#include <boost/units/systems/angle/degrees.hpp>
#include <boost/units/conversion.hpp>
#include <iostream>
#include <math.h>
#include <unistd.h>
Go to the source code of this file.
Functions | |
void | armCallback (const sensor_msgs::JointState::ConstPtr &msg) |
void | heartbeatCallback (const std_msgs::Bool::ConstPtr &msg) |
int | main (int argc, char **argv) |
void | moveBaseCallback (const move_base_msgs::MoveBaseActionGoal::ConstPtr &msg) |
void | trajectoryCallback (const control_msgs::FollowJointTrajectoryActionGoal::ConstPtr &msg) |
Variables | |
ros::Publisher | arm_pub |
bool | bad = false |
ros::Publisher | cmd_vel_pub |
ros::Publisher | gripper_pub |
double | gripperl = 0 |
double | gripperr = 0 |
bool | has_received_heartbeat = false |
int | heartbeat_timeout = 0 |
const int | heartbeat_timeout_max = 50 |
double | joint [5] |
ros::Time | last_heartbeat_time |
std::string | lastBaseGoalID |
std::string | lastGoalID |
ros::Publisher | move_base_cancel_pub |
bool | received_move_base = false |
bool | received_trajectory = false |
ros::Publisher | trajectory_cancel_pub |
void armCallback | ( | const sensor_msgs::JointState::ConstPtr & | msg | ) |
Definition at line 47 of file YoubotNetworkEstopper.cpp.
void heartbeatCallback | ( | const std_msgs::Bool::ConstPtr & | msg | ) |
Definition at line 74 of file YoubotNetworkEstopper.cpp.
int main | ( | int | argc, |
char ** | argv | ||
) |
Definition at line 103 of file YoubotNetworkEstopper.cpp.
void moveBaseCallback | ( | const move_base_msgs::MoveBaseActionGoal::ConstPtr & | msg | ) |
Definition at line 68 of file YoubotNetworkEstopper.cpp.
void trajectoryCallback | ( | const control_msgs::FollowJointTrajectoryActionGoal::ConstPtr & | msg | ) |
Definition at line 63 of file YoubotNetworkEstopper.cpp.
Definition at line 26 of file YoubotNetworkEstopper.cpp.
bool bad = false |
Definition at line 43 of file YoubotNetworkEstopper.cpp.
Definition at line 25 of file YoubotNetworkEstopper.cpp.
Definition at line 27 of file YoubotNetworkEstopper.cpp.
double gripperl = 0 |
Definition at line 38 of file YoubotNetworkEstopper.cpp.
double gripperr = 0 |
Definition at line 37 of file YoubotNetworkEstopper.cpp.
bool has_received_heartbeat = false |
Definition at line 40 of file YoubotNetworkEstopper.cpp.
int heartbeat_timeout = 0 |
Definition at line 41 of file YoubotNetworkEstopper.cpp.
const int heartbeat_timeout_max = 50 |
Definition at line 42 of file YoubotNetworkEstopper.cpp.
double joint[5] |
Definition at line 36 of file YoubotNetworkEstopper.cpp.
Definition at line 45 of file YoubotNetworkEstopper.cpp.
std::string lastBaseGoalID |
Definition at line 34 of file YoubotNetworkEstopper.cpp.
std::string lastGoalID |
Definition at line 32 of file YoubotNetworkEstopper.cpp.
Definition at line 29 of file YoubotNetworkEstopper.cpp.
bool received_move_base = false |
Definition at line 33 of file YoubotNetworkEstopper.cpp.
bool received_trajectory = false |
Definition at line 31 of file YoubotNetworkEstopper.cpp.
Definition at line 28 of file YoubotNetworkEstopper.cpp.