#include <ros/ros.h>#include <moveit/controller_manager/controller_manager.h>#include <control_msgs/FollowJointTrajectoryAction.h>#include <actionlib/client/simple_action_client.h>#include <pluginlib/class_list_macros.h>#include <pr2_mechanism_msgs/ListControllers.h>#include <pr2_mechanism_msgs/SwitchController.h>#include <pr2_mechanism_msgs/LoadController.h>#include <pr2_controllers_msgs/Pr2GripperCommandAction.h>#include <algorithm>#include <map>
Include dependency graph for pr2_moveit_controller_manager.cpp:
Go to the source code of this file.
Classes | |
| class | pr2_moveit_controller_manager::ActionBasedControllerHandle< T > |
| struct | pr2_moveit_controller_manager::Pr2MoveItControllerManager::ControllerInformation |
| class | pr2_moveit_controller_manager::Pr2FollowJointTrajectoryControllerHandle |
| class | pr2_moveit_controller_manager::Pr2GripperControllerHandle |
| class | pr2_moveit_controller_manager::Pr2MoveItControllerManager |
Namespaces | |
| namespace | pr2_moveit_controller_manager |
Functions | |
| PLUGINLIB_EXPORT_CLASS (pr2_moveit_controller_manager::Pr2MoveItControllerManager, moveit_controller_manager::MoveItControllerManager) | |
Variables | |
| static const double | pr2_moveit_controller_manager::DEFAULT_MAX_GRIPPER_EFFORT = 10000.0 |
| Maximum effort the PR2 gripper is allowed to exert (read as 'very large value'); this is PR2 specific. | |
| static const double | pr2_moveit_controller_manager::GAP_CONVERSION_RATIO = 0.1714 |
| The conversion ratio that needs to be applied to get the gap opening of the gripper (m) based on the value of the motor joint actuating the gripper (PR2 specific) | |
| static const double | pr2_moveit_controller_manager::GRIPPER_CLOSED = 0.0 |
| The distance between the PR2 gripper fingers when fully closed (in m); this is PR2 specific. | |
| static const double | pr2_moveit_controller_manager::GRIPPER_OPEN = 0.086 |
| The distance between the PR2 gripper fingers when fully open (in m); this is PR2 specific. | |
| static const std::string | pr2_moveit_controller_manager::L_GRIPPER_JOINT = "l_gripper_motor_screw_joint" |
| The name of the joint we expect input for to decide how to actuate the left gripper; this is PR2 specific. | |
| static const std::string | pr2_moveit_controller_manager::R_GRIPPER_JOINT = "r_gripper_motor_screw_joint" |
| The name of the joint we expect input for to decide how to actuate the right gripper; this is PR2 specific. | |