#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:

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)
	initialise the list of servos (variable servos) and the number of servos connected. It reads this from the yaml file.
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 = 0.0
hardware_controller	controller
int	number_servo = 0
ros::Publisher	position_pub
servo *	servos = NULL
ros::Publisher	type_pub

Enumeration Type Documentation

enum hardware_controller

Enumerator:

arbotix
ssc32
phidget

Definition at line 61 of file corobot_arm.cpp.

enum servo_type

This node is used to control an arm on your corobot robot. It subscribes to a topic armPosition of type corobot_msgs/MoveArm. Then, it sends the necessary messages to the necessary node that interfaces with the hardware. This was necessary as many arms are available for the corobot, and the nodes interfacing the different hardware are made by different people and have different interfaces

Enumerator: