armadillo2_hw::DxlMotorsBuilder Class Reference

#include <dxl_motors_builder.h>

Public Member Functions
	DxlMotorsBuilder (ros::NodeHandle &nh)
void	read ()
void	registerHandles (hardware_interface::JointStateInterface &joint_state_interface, hardware_interface::PositionJointInterface &position_interface, hardware_interface::PosVelJointInterface &posvel_interface)
void	write ()
void	writeToMotor (int motor_id, double position, double velocity)

Private Member Functions
void	buildMotors ()
void	fetchParams ()
void	loadSpecs ()
void	openPort ()
void	pingMotors ()
bool	setTorque (bool flag)
void	speakMsg (std::string msg, int sleep_time)
bool	torqueServiceCB (std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res)
void	write (std::vector< dxl::motor > &motors)

Private Attributes
boost::mutex	comm_mutex_
int	dxl_baudrate_ = 0
dxl::DxlInterface	dxl_interface_
XmlRpc::XmlRpcValue	dxl_joints_config_
std::string	dxl_port_
XmlRpc::XmlRpcValue	dxl_spec_config_
ros::Publisher	espeak_pub_
int	failed_reads_ = 0
int	failed_writes_ = 0
std::vector< hardware_interface::JointStateHandle >	joint_state_handles_
bool	load_dxl_hw_ = true
std::vector< dxl::motor >	motors_
ros::NodeHandle *	nh_
std::vector< hardware_interface::JointHandle >	pos_handles_
std::vector< hardware_interface::PosVelJointHandle >	posvel_handles_
float	protocol_ = 0
std::map< uint16_t, dxl::spec >	specs_
ros::ServiceServer	torque_srv_

Detailed Description

Definition at line 31 of file dxl_motors_builder.h.

Constructor & Destructor Documentation

armadillo2_hw::DxlMotorsBuilder::DxlMotorsBuilder

(

ros::NodeHandle &

nh

)

Definition at line 8 of file dxl_motors_builder.cpp.

Member Function Documentation

void armadillo2_hw::DxlMotorsBuilder::buildMotors ( )

private

Definition at line 516 of file dxl_motors_builder.cpp.

void armadillo2_hw::DxlMotorsBuilder::fetchParams ( )

private

Definition at line 448 of file dxl_motors_builder.cpp.

void armadillo2_hw::DxlMotorsBuilder::loadSpecs ( )

private

Definition at line 154 of file dxl_motors_builder.cpp.

void armadillo2_hw::DxlMotorsBuilder::openPort ( )

private

Definition at line 618 of file dxl_motors_builder.cpp.

void armadillo2_hw::DxlMotorsBuilder::pingMotors ( )

private

Definition at line 125 of file dxl_motors_builder.cpp.

void armadillo2_hw::DxlMotorsBuilder::read

(

)

Definition at line 41 of file dxl_motors_builder.cpp.

void armadillo2_hw::DxlMotorsBuilder::registerHandles	(	hardware_interface::JointStateInterface &	joint_state_interface,
		hardware_interface::PositionJointInterface &	position_interface,
		hardware_interface::PosVelJointInterface &	posvel_interface
	)

Definition at line 582 of file dxl_motors_builder.cpp.

bool armadillo2_hw::DxlMotorsBuilder::setTorque ( bool  flag )

private

Definition at line 412 of file dxl_motors_builder.cpp.

void armadillo2_hw::DxlMotorsBuilder::speakMsg ( std::string  msg, int  sleep_time  )

inlineprivate

Definition at line 81 of file dxl_motors_builder.h.

bool armadillo2_hw::DxlMotorsBuilder::torqueServiceCB ( std_srvs::SetBool::Request &  req, std_srvs::SetBool::Response &  res  )

private

Definition at line 436 of file dxl_motors_builder.cpp.

void armadillo2_hw::DxlMotorsBuilder::write

(

)

Definition at line 120 of file dxl_motors_builder.cpp.

void armadillo2_hw::DxlMotorsBuilder::write ( std::vector< dxl::motor > &  motors )

private

Definition at line 93 of file dxl_motors_builder.cpp.

void armadillo2_hw::DxlMotorsBuilder::writeToMotor	(	int	motor_id,
		double	position,
		double	velocity
	)

Definition at line 76 of file dxl_motors_builder.cpp.

Member Data Documentation

boost::mutex armadillo2_hw::DxlMotorsBuilder::comm_mutex_

private

Definition at line 68 of file dxl_motors_builder.h.

int armadillo2_hw::DxlMotorsBuilder::dxl_baudrate_ = 0

private

Definition at line 56 of file dxl_motors_builder.h.

dxl::DxlInterface armadillo2_hw::DxlMotorsBuilder::dxl_interface_

private

Definition at line 62 of file dxl_motors_builder.h.

XmlRpc::XmlRpcValue armadillo2_hw::DxlMotorsBuilder::dxl_joints_config_

private

Definition at line 63 of file dxl_motors_builder.h.

std::string armadillo2_hw::DxlMotorsBuilder::dxl_port_

private

Definition at line 57 of file dxl_motors_builder.h.

XmlRpc::XmlRpcValue armadillo2_hw::DxlMotorsBuilder::dxl_spec_config_

private

Definition at line 63 of file dxl_motors_builder.h.

ros::Publisher armadillo2_hw::DxlMotorsBuilder::espeak_pub_

private

Definition at line 66 of file dxl_motors_builder.h.

int armadillo2_hw::DxlMotorsBuilder::failed_reads_ = 0

private

Definition at line 58 of file dxl_motors_builder.h.

int armadillo2_hw::DxlMotorsBuilder::failed_writes_ = 0

private

Definition at line 58 of file dxl_motors_builder.h.

std::vector<hardware_interface::JointStateHandle> armadillo2_hw::DxlMotorsBuilder::joint_state_handles_

private

Definition at line 52 of file dxl_motors_builder.h.

bool armadillo2_hw::DxlMotorsBuilder::load_dxl_hw_ = true

private

Definition at line 60 of file dxl_motors_builder.h.

std::vector<dxl::motor> armadillo2_hw::DxlMotorsBuilder::motors_

private

Definition at line 64 of file dxl_motors_builder.h.

ros::NodeHandle* armadillo2_hw::DxlMotorsBuilder::nh_

private

Definition at line 49 of file dxl_motors_builder.h.

std::vector<hardware_interface::JointHandle> armadillo2_hw::DxlMotorsBuilder::pos_handles_

private

Definition at line 54 of file dxl_motors_builder.h.

std::vector<hardware_interface::PosVelJointHandle> armadillo2_hw::DxlMotorsBuilder::posvel_handles_

private

Definition at line 53 of file dxl_motors_builder.h.

float armadillo2_hw::DxlMotorsBuilder::protocol_ = 0

private

Definition at line 59 of file dxl_motors_builder.h.

std::map<uint16_t, dxl::spec> armadillo2_hw::DxlMotorsBuilder::specs_

private

Definition at line 61 of file dxl_motors_builder.h.

ros::ServiceServer armadillo2_hw::DxlMotorsBuilder::torque_srv_

private

Definition at line 65 of file dxl_motors_builder.h.

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

• dxl_motors_builder.h
• dxl_motors_builder.cpp