JacoManipulation Class Reference

Provides manipulation actions for the JACO arm. More...

#include <jaco_manipulation.h>

List of all members.

Public Types
typedef actionlib::SimpleActionClient < control_msgs::GripperCommandAction >	GripperClient
typedef actionlib::SimpleActionServer < rail_manipulation_msgs::GripperAction >	GripperServer
typedef actionlib::SimpleActionServer < rail_manipulation_msgs::LiftAction >	LiftServer
Public Member Functions
void	execute_gripper (const rail_manipulation_msgs::GripperGoalConstPtr &goal)
	Callback for the executeGraspServer, closes the gripper until an object is grasped, alternatively opens the gripper fully.
void	execute_lift (const rail_manipulation_msgs::LiftGoalConstPtr &goal)
	Callback for the executePickupServer, lifts the arm while applying input to keep the gripper closed.
	JacoManipulation ()
	Constructor.
void	jointStateCallback (const sensor_msgs::JointState msg)
	Callback for joint state updates.
Private Member Functions
bool	loadParameters (const ros::NodeHandle n)
Private Attributes
GripperClient *	acGripper
ros::Publisher	angularCmdPublisher
std::string	arm_name_
GripperServer *	asGripper
LiftServer *	asLift
ros::Publisher	cartesianCmdPublisher
ros::ServiceClient	cartesianPositionClient
ros::ServiceClient	eraseTrajectoriesClient
double	gripper_closed_
double	gripper_open_
std::vector< double >	joint_pos_
ros::Subscriber	jointStateSubscriber
bool	kinova_gripper_
ros::NodeHandle	n
int	num_fingers_
int	num_joints_
ros::NodeHandle	pnh
std::string	topic_prefix_

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Detailed Description

Provides manipulation actions for the JACO arm.

JacoManipulation creates a ROS node that provides action servers for executing manipulation actions including grasping, releasing, and object pickup.

Definition at line 42 of file jaco_manipulation.h.

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Member Typedef Documentation

typedef actionlib::SimpleActionClient<control_msgs::GripperCommandAction> JacoManipulation::GripperClient

Definition at line 45 of file jaco_manipulation.h.

typedef actionlib::SimpleActionServer<rail_manipulation_msgs::GripperAction> JacoManipulation::GripperServer

Definition at line 46 of file jaco_manipulation.h.

typedef actionlib::SimpleActionServer<rail_manipulation_msgs::LiftAction> JacoManipulation::LiftServer

Definition at line 47 of file jaco_manipulation.h.

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Constructor & Destructor Documentation

JacoManipulation::JacoManipulation

(

)

Constructor.

Definition at line 5 of file jaco_manipulation.cpp.

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Member Function Documentation

void JacoManipulation::execute_gripper

(

const rail_manipulation_msgs::GripperGoalConstPtr &

goal

)

Callback for the executeGraspServer, closes the gripper until an object is grasped, alternatively opens the gripper fully.

Parameters:

goal	action goal

Definition at line 76 of file jaco_manipulation.cpp.

void JacoManipulation::execute_lift

(

const rail_manipulation_msgs::LiftGoalConstPtr &

goal

)

Callback for the executePickupServer, lifts the arm while applying input to keep the gripper closed.

Parameters:

goal	action goal

Definition at line 152 of file jaco_manipulation.cpp.

void JacoManipulation::jointStateCallback

(

const sensor_msgs::JointState

msg

)

Callback for joint state updates.

Parameters:

msg	joint state message

Definition at line 70 of file jaco_manipulation.cpp.

bool JacoManipulation::loadParameters

(

const ros::NodeHandle

n

)

[private]

Todo:

MdL [IMPR]: Return is values are all correctly loaded.

Definition at line 40 of file jaco_manipulation.cpp.

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Member Data Documentation

GripperClient* JacoManipulation::acGripper [private]

Definition at line 95 of file jaco_manipulation.h.

ros::Publisher JacoManipulation::angularCmdPublisher [private]

Definition at line 87 of file jaco_manipulation.h.

std::string JacoManipulation::arm_name_ [private]

Definition at line 77 of file jaco_manipulation.h.

GripperServer* JacoManipulation::asGripper [private]

Definition at line 96 of file jaco_manipulation.h.

LiftServer* JacoManipulation::asLift [private]

Definition at line 97 of file jaco_manipulation.h.

ros::Publisher JacoManipulation::cartesianCmdPublisher [private]

Definition at line 86 of file jaco_manipulation.h.

ros::ServiceClient JacoManipulation::cartesianPositionClient [private]

Definition at line 91 of file jaco_manipulation.h.

ros::ServiceClient JacoManipulation::eraseTrajectoriesClient [private]

Definition at line 92 of file jaco_manipulation.h.

double JacoManipulation::gripper_closed_ [private]

Definition at line 79 of file jaco_manipulation.h.

double JacoManipulation::gripper_open_ [private]

Definition at line 80 of file jaco_manipulation.h.

std::vector<double> JacoManipulation::joint_pos_ [private]

Definition at line 99 of file jaco_manipulation.h.

ros::Subscriber JacoManipulation::jointStateSubscriber [private]

Definition at line 88 of file jaco_manipulation.h.

bool JacoManipulation::kinova_gripper_ [private]

Definition at line 83 of file jaco_manipulation.h.

ros::NodeHandle JacoManipulation::n [private]

Definition at line 74 of file jaco_manipulation.h.

int JacoManipulation::num_fingers_ [private]

Definition at line 81 of file jaco_manipulation.h.

int JacoManipulation::num_joints_ [private]

Definition at line 82 of file jaco_manipulation.h.

ros::NodeHandle JacoManipulation::pnh [private]

Definition at line 74 of file jaco_manipulation.h.

std::string JacoManipulation::topic_prefix_ [private]

Definition at line 78 of file jaco_manipulation.h.

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

• jaco_manipulation.h
• jaco_manipulation.cpp