#include <ros/node_handle.h>
#include <cob_hand_bridge/InitFinger.h>
#include <cob_hand_bridge/InitPins.h>
#include <cob_hand_bridge/SetPWM.h>
#include <cob_hand_bridge/UpdatePins.h>
#include <cob_hand_bridge/Status.h>
#include <std_msgs/UInt8.h>
#include <std_srvs/Trigger.h>
#include <boost/thread/thread.hpp>
#include <boost/scoped_ptr.hpp>
#include "hardware.h"
#include "gpio.h"
#include "sdhx.h"
Go to the source code of this file.
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GPIO | g_gpio |
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InitFinger::Request | g_init_req |
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ros::NodeHandle_< HandBridgeHardware > | g_nh |
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std::string | g_port |
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ros::Publisher | g_pub ("status",&g_status_msg) |
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boost::scoped_ptr< SDHX > | g_sdhx |
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ros::ServiceServer< Trigger::Request, Trigger::Response > | g_srv_halt_finger ("halt",&handleHaltFinger) |
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ros::ServiceServer< InitFinger::Request, InitFinger::Response > | g_srv_init_finger ("init_finger",&handleInitFinger) |
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ros::ServiceServer< InitPins::Request, InitPins::Response > | g_srv_init_pins ("init_pins",&handleInitPins) |
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ros::ServiceServer< Trigger::Request, Trigger::Response > | g_srv_recover ("recover",&handleRecover) |
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ros::ServiceServer< SetPWM::Request, SetPWM::Response > | g_srv_set_pwm ("set_pwm",&handleSetPWM) |
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ros::ServiceServer< UpdatePins::Request, UpdatePins::Response > | g_srv_update_pins ("update_pins",&handleUpdatePins) |
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cob_hand_bridge::Status | g_status_msg |
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ros::Subscriber< std_msgs::UInt8 > | g_sub_clear_pin ("clear_pin", handleClearPin) |
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ros::Subscriber< cob_hand_bridge::JointValues > | g_sub_command ("command", handleJointCommand) |
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ros::Subscriber< std_msgs::UInt8 > | g_sub_set_pin ("set_pin", handleSetPin) |
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void handleHaltFinger |
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const Trigger::Request & |
req, |
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Trigger::Response & |
res |
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) |
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void handleInitFinger |
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const InitFinger::Request & |
req, |
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InitFinger::Response & |
res |
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) |
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void handleInitPins |
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const InitPins::Request & |
req, |
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InitPins::Response & |
res |
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) |
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void handleRecover |
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const Trigger::Request & |
req, |
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Trigger::Response & |
res |
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) |
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void handleSetPWM |
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const SetPWM::Request & |
req, |
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SetPWM::Response & |
res |
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) |
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void handleUpdatePins |
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const UpdatePins::Request & |
req, |
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UpdatePins::Response & |
res |
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) |
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bool initFinger |
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const InitFinger::Request & |
req | ) |
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int main |
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int |
argc, |
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char ** |
argv |
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) |
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InitFinger::Request g_init_req |
boost::scoped_ptr<SDHX> g_sdhx |
ros::ServiceServer<Trigger::Request, Trigger::Response> g_srv_halt_finger("halt",&handleHaltFinger) |
ros::ServiceServer<InitFinger::Request, InitFinger::Response> g_srv_init_finger("init_finger",&handleInitFinger) |
ros::ServiceServer<InitPins::Request, InitPins::Response> g_srv_init_pins("init_pins",&handleInitPins) |
ros::ServiceServer<Trigger::Request, Trigger::Response> g_srv_recover("recover",&handleRecover) |
ros::ServiceServer<SetPWM::Request, SetPWM::Response> g_srv_set_pwm("set_pwm",&handleSetPWM) |
ros::ServiceServer<UpdatePins::Request, UpdatePins::Response> g_srv_update_pins("update_pins",&handleUpdatePins) |