#include "roch_base/roch_hardware.h"
#include "controller_manager/controller_manager.h"
#include "ros/callback_queue.h"
#include <boost/chrono.hpp>

Include dependency graph for roch_base.cpp:

Typedefs
typedef boost::chrono::steady_clock	time_source
Functions
void	controlLoop (roch_base::rochHardware &roch, controller_manager::ControllerManager &cm, time_source::time_point &last_time)
void	diagnosticLoop (roch_base::rochHardware &roch)
int	main (int argc, char *argv[])

Typedef Documentation

typedef boost::chrono::steady_clock time_source

Author:: Paul Bovbel <pbovbel@clearpathrobotics.com>

Copyright:: Copyright (c) 2014-2015, Clearpath Robotics, Inc.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of Clearpath Robotics, Inc. nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Please send comments, questions, or patches to code@clearpathrobotics.com

Definition at line 38 of file roch_base.cpp.

Function Documentation

void controlLoop	(	roch_base::rochHardware &	roch,
		controller_manager::ControllerManager &	cm,
		time_source::time_point &	last_time
	)

Control loop for roch, not realtime safe

Definition at line 43 of file roch_base.cpp.

void diagnosticLoop ( roch_base::rochHardware & roch )

Diagnostics loop for roch, not realtime safe

Definition at line 64 of file roch_base.cpp.

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 69 of file roch_base.cpp.

Typedefs

Functions

Typedef Documentation

Function Documentation