Classes
struct	ParamType
Public Member Functions
bool	initDrives ()
	NodeClass ()
void	publish_globalDiagnostics (const ros::TimerEvent &event)
bool	publish_JointStates ()
bool	srvCallback_ElmoRecorderConfig (cob_base_drive_chain::ElmoRecorderConfig::Request &req, cob_base_drive_chain::ElmoRecorderConfig::Response &res)
bool	srvCallback_ElmoRecorderReadout (cob_base_drive_chain::ElmoRecorderReadout::Request &req, cob_base_drive_chain::ElmoRecorderReadout::Response &res)
bool	srvCallback_Init (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
bool	srvCallback_Recover (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
bool	srvCallback_Shutdown (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
void	topicCallback_JointStateCmd (const control_msgs::JointTrajectoryControllerState::ConstPtr &msg)
	~NodeClass ()
Public Attributes
ros::Timer	glDiagnostics_timer
bool	m_bisInitialized
bool	m_bPubEffort
bool	m_bReadoutElmo
CanCtrlPltfCOb3 *	m_CanCtrlPltf
int	m_iNumDrives
int	m_iNumMotors
ParamType	m_Param
ros::NodeHandle	n
std::string	sIniDirectory
ros::ServiceServer	srvServer_ElmoRecorderConfig
ros::ServiceServer	srvServer_ElmoRecorderReadout
ros::ServiceServer	srvServer_Init
ros::ServiceServer	srvServer_Recover
ros::ServiceServer	srvServer_SetMotionType
ros::ServiceServer	srvServer_Shutdown
ros::Publisher	topicPub_ControllerState
ros::Publisher	topicPub_Diagnostic
ros::Publisher	topicPub_DiagnosticGlobal_
ros::Publisher	topicPub_JointState
ros::Subscriber	topicSub_JointStateCmd

Detailed Description

This node provides control of the care-o-bot platform drives to the ROS-"network". For this purpose it offers several services and publishes data on different topics.

Definition at line 51 of file cob_base_drive_chain.cpp.

Constructor & Destructor Documentation

NodeClass::NodeClass ( ) [inline]

Parameters are set within the launch file

Definition at line 163 of file cob_base_drive_chain.cpp.

NodeClass::~NodeClass ( ) [inline]

Definition at line 243 of file cob_base_drive_chain.cpp.

Member Function Documentation

bool NodeClass::initDrives ( )

Definition at line 820 of file cob_base_drive_chain.cpp.

void NodeClass::publish_globalDiagnostics ( const ros::TimerEvent & event ) [inline]

Definition at line 694 of file cob_base_drive_chain.cpp.

bool NodeClass::publish_JointStates ( ) [inline]

Definition at line 516 of file cob_base_drive_chain.cpp.

bool NodeClass::srvCallback_ElmoRecorderConfig	(	cob_base_drive_chain::ElmoRecorderConfig::Request &	req,
		cob_base_drive_chain::ElmoRecorderConfig::Response &	res
	)		`[inline]`

Definition at line 431 of file cob_base_drive_chain.cpp.

bool NodeClass::srvCallback_ElmoRecorderReadout	(	cob_base_drive_chain::ElmoRecorderReadout::Request &	req,
		cob_base_drive_chain::ElmoRecorderReadout::Response &	res
	)		`[inline]`

Definition at line 447 of file cob_base_drive_chain.cpp.

bool NodeClass::srvCallback_Init	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)		`[inline]`

Definition at line 402 of file cob_base_drive_chain.cpp.

bool NodeClass::srvCallback_Recover	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)		`[inline]`

Definition at line 470 of file cob_base_drive_chain.cpp.

bool NodeClass::srvCallback_Shutdown	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)		`[inline]`

Definition at line 498 of file cob_base_drive_chain.cpp.

void NodeClass::topicCallback_JointStateCmd ( const control_msgs::JointTrajectoryControllerState::ConstPtr & msg ) [inline]

Definition at line 254 of file cob_base_drive_chain.cpp.

Member Data Documentation

ros::Timer NodeClass::glDiagnostics_timer

Timer to publish global diagnostic messages

Definition at line 75 of file cob_base_drive_chain.cpp.

bool NodeClass::m_bisInitialized

Definition at line 145 of file cob_base_drive_chain.cpp.

bool NodeClass::m_bPubEffort

Definition at line 159 of file cob_base_drive_chain.cpp.

bool NodeClass::m_bReadoutElmo

Definition at line 160 of file cob_base_drive_chain.cpp.

CanCtrlPltfCOb3* NodeClass::m_CanCtrlPltf

Definition at line 143 of file cob_base_drive_chain.cpp.

int NodeClass::m_iNumDrives

Definition at line 147 of file cob_base_drive_chain.cpp.

int NodeClass::m_iNumMotors

Definition at line 146 of file cob_base_drive_chain.cpp.

ParamType NodeClass::m_Param

Definition at line 156 of file cob_base_drive_chain.cpp.

ros::NodeHandle NodeClass::n

Definition at line 55 of file cob_base_drive_chain.cpp.

std::string NodeClass::sIniDirectory

Definition at line 158 of file cob_base_drive_chain.cpp.

ros::ServiceServer NodeClass::srvServer_ElmoRecorderConfig

Service requests cob_base_drive_chain::ElmoRecorderSetup. It is used to configure the Elmo Recorder to record predefined sources. Parameters are: int64 recordinggap #Specify every which time quantum (4*90usec) a new data point (of 1024 points in total) is recorded. the recording process starts immediately.

Definition at line 106 of file cob_base_drive_chain.cpp.

ros::ServiceServer NodeClass::srvServer_ElmoRecorderReadout

Service requests cob_base_drive_chain::ElmoRecorderGet. It is used to start the read-out process of previously recorded data by the Elmo Recorder. Parameters are: int64 subindex #As Subindex, set the recorded source you want to read out: #1: Main Speed #2: Main Position #10: ActiveCurrent #16: Speed Command

string fileprefix #Enter the path+file-prefix for the logfile (of an existing directory!) #The file-prefix is extended with _MotorNumber_RecordedSource.log

Definition at line 122 of file cob_base_drive_chain.cpp.

ros::ServiceServer NodeClass::srvServer_Init

Service requests std_srvs::Trigger and initializes platform and motors

Definition at line 87 of file cob_base_drive_chain.cpp.

ros::ServiceServer NodeClass::srvServer_Recover

Service requests std_srvs::Trigger and resets platform and motors

Definition at line 92 of file cob_base_drive_chain.cpp.

ros::ServiceServer NodeClass::srvServer_SetMotionType

Definition at line 99 of file cob_base_drive_chain.cpp.

ros::ServiceServer NodeClass::srvServer_Shutdown

Service requests std_srvs::Trigger and shuts down platform and motors

Definition at line 97 of file cob_base_drive_chain.cpp.