#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.hpp>#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.
Namespaces | |
| 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. More... | |
| 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) More... | |
| 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. More... | |
| 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. More... | |
| 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. More... | |
| 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. More... | |
Function Documentation
| PLUGINLIB_EXPORT_CLASS | ( | pr2_moveit_controller_manager::Pr2MoveItControllerManager | , |
| moveit_controller_manager::MoveItControllerManager | |||
| ) |