#include <general_io_passthrough_controller.hpp>
Public Member Functions | |
void | digital_commands_cb (const std_msgs::BoolConstPtr &msg, int index) |
GeneralIOPassthroughController () | |
virtual bool | init (ros_ethercat_model::RobotState *robot, ros::NodeHandle &n) |
void | pwm_commands_cb (const sr_ronex_msgs::PWMConstPtr &msg, int index) |
virtual void | update (const ros::Time &, const ros::Duration &) |
Issues commands to the joint. Should be called at regular intervals. | |
Private Attributes | |
std::vector< ros::Subscriber > | digital_subscribers_ |
send commands to the RoNeX's digital I/O | |
ronex::GeneralIO * | general_io_ |
int | loop_count_ |
ros::NodeHandle | node_ |
std::vector< ros::Subscriber > | pwm_subscribers_ |
send PWM commands to the RoNeX's |
Definition at line 41 of file general_io_passthrough_controller.hpp.
Definition at line 32 of file general_io_passthrough_controller.cpp.
void ronex::GeneralIOPassthroughController::digital_commands_cb | ( | const std_msgs::BoolConstPtr & | msg, |
int | index | ||
) |
Definition at line 94 of file general_io_passthrough_controller.cpp.
bool ronex::GeneralIOPassthroughController::init | ( | ros_ethercat_model::RobotState * | robot, |
ros::NodeHandle & | n | ||
) | [virtual] |
Reimplemented from controller_interface::Controller< ros_ethercat_model::RobotState >.
Definition at line 36 of file general_io_passthrough_controller.cpp.
void ronex::GeneralIOPassthroughController::pwm_commands_cb | ( | const sr_ronex_msgs::PWMConstPtr & | msg, |
int | index | ||
) |
Definition at line 99 of file general_io_passthrough_controller.cpp.
virtual void ronex::GeneralIOPassthroughController::update | ( | const ros::Time & | , |
const ros::Duration & | |||
) | [inline, virtual] |
Issues commands to the joint. Should be called at regular intervals.
Implements controller_interface::ControllerBase.
Definition at line 52 of file general_io_passthrough_controller.hpp.
std::vector<ros::Subscriber> ronex::GeneralIOPassthroughController::digital_subscribers_ [private] |
send commands to the RoNeX's digital I/O
Definition at line 66 of file general_io_passthrough_controller.hpp.
Definition at line 63 of file general_io_passthrough_controller.hpp.
int ronex::GeneralIOPassthroughController::loop_count_ [private] |
Definition at line 61 of file general_io_passthrough_controller.hpp.
Definition at line 59 of file general_io_passthrough_controller.hpp.
std::vector<ros::Subscriber> ronex::GeneralIOPassthroughController::pwm_subscribers_ [private] |
send PWM commands to the RoNeX's
Definition at line 68 of file general_io_passthrough_controller.hpp.