MRP2HW Class Reference

#include <mrp2_hardware.h>

Inheritance diagram for MRP2HW:

List of all members.

Public Member Functions
void	callback (mrp2_hardware::ParametersConfig &config, uint32_t level)
void	estop_clear_callback (const std_msgs::Empty::ConstPtr &msg)
ros::Duration	getPeriod () const
ros::Time	getTime () const
	MRP2HW ()
void	positions_reset_callback (const std_msgs::Empty::ConstPtr &msg)
void	read ()
bool	start_callback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
bool	stop_callback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
void	write ()
Public Attributes
bool	estop_release
Private Member Functions
double	_ftod (float fValue)
Private Attributes
ros::Publisher	aux_lights_pub
ros::Publisher	batt_high_pub
ros::Publisher	batt_low_pub
std::vector< int >	bumper_states
ros::Publisher	bumpers_pub
double	cmd_ [2]
boost::mutex	connect_mutex_
ros::Publisher	controller_pub
ros::Time	current_time
std::vector< int >	diags
boost::recursive_mutex	dynamic_reconfigure_mutex_
double	eff_ [2]
ros::Publisher	estop_btn_pub
ros::Subscriber	estop_clear_sub
ros::Publisher	estop_pub
bool	estop_state
dynamic_reconfigure::Server < mrp2_hardware::ParametersConfig > ::CallbackType	f
hardware_interface::ImuSensorInterface	imu_sens_interface_
mrp2_hardware::ParametersConfig	init_config
hardware_interface::JointStateInterface	jnt_state_interface_
hardware_interface::VelocityJointInterface	jnt_vel_interface_
ros::Time	last_time
ros::Publisher	motor_stall_l_pub
ros::Publisher	motor_stall_r_pub
ros::NodeHandle	nh_
double	pos_ [2]
double	pos_left
ros::Subscriber	pos_reset_sub
double	pos_right
bool	publish_feed
bool	publish_pos
bool	publish_ref
MRP2_Serial *	robot_serial
bool	running_
ros::Publisher	sep_cmd_vel_pub
dynamic_reconfigure::Server < mrp2_hardware::ParametersConfig >	server
std::vector< int >	speeds
ros::ServiceServer	start_srv_
ros::ServiceServer	stop_srv_
bool	sym_tuning
double	vel_ [2]

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Detailed Description

Definition at line 36 of file mrp2_hardware.h.

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Constructor & Destructor Documentation

MRP2HW::MRP2HW

(

)

[inline]

Definition at line 39 of file mrp2_hardware.h.

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Member Function Documentation

double MRP2HW::_ftod

(

float

fValue

)

[inline, private]

Definition at line 355 of file mrp2_hardware.h.

void MRP2HW::callback	(	mrp2_hardware::ParametersConfig &	config,
		uint32_t	level
	)		[inline]

Definition at line 294 of file mrp2_hardware.h.

void MRP2HW::estop_clear_callback

(

const std_msgs::Empty::ConstPtr &

msg

)

[inline]

Definition at line 288 of file mrp2_hardware.h.

ros::Duration MRP2HW::getPeriod

(

)

const [inline]

Definition at line 136 of file mrp2_hardware.h.

ros::Time MRP2HW::getTime

(

)

const [inline]

Definition at line 135 of file mrp2_hardware.h.

void MRP2HW::positions_reset_callback

(

const std_msgs::Empty::ConstPtr &

msg

)

[inline]

Definition at line 282 of file mrp2_hardware.h.

void MRP2HW::read

(

)

[inline]

Definition at line 140 of file mrp2_hardware.h.

bool MRP2HW::start_callback	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)		[inline]

Definition at line 270 of file mrp2_hardware.h.

bool MRP2HW::stop_callback	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)		[inline]

Definition at line 276 of file mrp2_hardware.h.

void MRP2HW::write

(

)

[inline]

Definition at line 234 of file mrp2_hardware.h.

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Member Data Documentation

ros::Publisher MRP2HW::aux_lights_pub [private]

Definition at line 339 of file mrp2_hardware.h.

ros::Publisher MRP2HW::batt_high_pub [private]

Definition at line 337 of file mrp2_hardware.h.

ros::Publisher MRP2HW::batt_low_pub [private]

Definition at line 336 of file mrp2_hardware.h.

std::vector<int> MRP2HW::bumper_states [private]

Definition at line 324 of file mrp2_hardware.h.

ros::Publisher MRP2HW::bumpers_pub [private]

Definition at line 330 of file mrp2_hardware.h.

double MRP2HW::cmd_[2] [private]

Definition at line 311 of file mrp2_hardware.h.

boost::mutex MRP2HW::connect_mutex_ [private]

Definition at line 351 of file mrp2_hardware.h.

ros::Publisher MRP2HW::controller_pub [private]

Definition at line 338 of file mrp2_hardware.h.

ros::Time MRP2HW::current_time [private]

Definition at line 346 of file mrp2_hardware.h.

std::vector<int> MRP2HW::diags [private]

Definition at line 324 of file mrp2_hardware.h.

boost::recursive_mutex MRP2HW::dynamic_reconfigure_mutex_ [private]

Definition at line 350 of file mrp2_hardware.h.

double MRP2HW::eff_[2] [private]

Definition at line 314 of file mrp2_hardware.h.

ros::Publisher MRP2HW::estop_btn_pub [private]

Definition at line 333 of file mrp2_hardware.h.

ros::Subscriber MRP2HW::estop_clear_sub [private]

Definition at line 344 of file mrp2_hardware.h.

ros::Publisher MRP2HW::estop_pub [private]

Definition at line 332 of file mrp2_hardware.h.

bool MRP2HW::estop_release

Definition at line 138 of file mrp2_hardware.h.

bool MRP2HW::estop_state [private]

Definition at line 318 of file mrp2_hardware.h.

dynamic_reconfigure::Server<mrp2_hardware::ParametersConfig>::CallbackType MRP2HW::f [private]

Definition at line 349 of file mrp2_hardware.h.

hardware_interface::ImuSensorInterface MRP2HW::imu_sens_interface_ [private]

Definition at line 310 of file mrp2_hardware.h.

mrp2_hardware::ParametersConfig MRP2HW::init_config [private]

Definition at line 353 of file mrp2_hardware.h.

hardware_interface::JointStateInterface MRP2HW::jnt_state_interface_ [private]

Definition at line 308 of file mrp2_hardware.h.

hardware_interface::VelocityJointInterface MRP2HW::jnt_vel_interface_ [private]

Definition at line 309 of file mrp2_hardware.h.

ros::Time MRP2HW::last_time [private]

Definition at line 346 of file mrp2_hardware.h.

ros::Publisher MRP2HW::motor_stall_l_pub [private]

Definition at line 334 of file mrp2_hardware.h.

ros::Publisher MRP2HW::motor_stall_r_pub [private]

Definition at line 335 of file mrp2_hardware.h.

ros::NodeHandle MRP2HW::nh_ [private]

Definition at line 326 of file mrp2_hardware.h.

double MRP2HW::pos_[2] [private]

Definition at line 312 of file mrp2_hardware.h.

double MRP2HW::pos_left [private]

Definition at line 320 of file mrp2_hardware.h.

ros::Subscriber MRP2HW::pos_reset_sub [private]

Definition at line 343 of file mrp2_hardware.h.

double MRP2HW::pos_right [private]

Definition at line 320 of file mrp2_hardware.h.

bool MRP2HW::publish_feed [private]

Definition at line 317 of file mrp2_hardware.h.

bool MRP2HW::publish_pos [private]

Definition at line 317 of file mrp2_hardware.h.

bool MRP2HW::publish_ref [private]

Definition at line 317 of file mrp2_hardware.h.

MRP2_Serial* MRP2HW::robot_serial [private]

Definition at line 323 of file mrp2_hardware.h.

bool MRP2HW::running_ [private]

Definition at line 315 of file mrp2_hardware.h.

ros::Publisher MRP2HW::sep_cmd_vel_pub [private]

Definition at line 341 of file mrp2_hardware.h.

dynamic_reconfigure::Server<mrp2_hardware::ParametersConfig> MRP2HW::server [private]

Definition at line 348 of file mrp2_hardware.h.

std::vector<int> MRP2HW::speeds [private]

Definition at line 324 of file mrp2_hardware.h.

ros::ServiceServer MRP2HW::start_srv_ [private]

Definition at line 327 of file mrp2_hardware.h.

ros::ServiceServer MRP2HW::stop_srv_ [private]

Definition at line 328 of file mrp2_hardware.h.

bool MRP2HW::sym_tuning [private]

Definition at line 317 of file mrp2_hardware.h.

double MRP2HW::vel_[2] [private]

Definition at line 313 of file mrp2_hardware.h.

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

• mrp2_hardware.h