Public Member Functions | Private Attributes | List of all members
SVHNode Class Reference

#include <SVHNode.h>

Public Member Functions

void connectCallback (const std_msgs::Empty &)
 Callback function for connecting to SCHUNK five finger hand. More...
 
void dynamic_reconfigure_callback (svh_controller::svhConfig &config, uint32_t level)
 Dynamic reconfigure callback to update changing parameters. More...
 
void enableChannelCallback (const std_msgs::Int8ConstPtr &channel)
 Callback function to enable channels of SCHUNK five finger hand. More...
 
std_msgs::Float64MultiArray getChannelCurrents ()
 getChannelCurrents Returns the current values of the channels as raw output More...
 
sensor_msgs::JointState getChannelFeedback ()
 SVHNode::getChannelFeedback Gets the latest received positions and efforts from the driver. More...
 
void jointStateCallback (const sensor_msgs::JointStateConstPtr &input)
 Callback function for setting channel target positions to SCHUNK five finger hand. More...
 
void resetChannelCallback (const std_msgs::Int8ConstPtr &channel)
 Callback function to reset/home channels of SCHUNK five finger hand. More...
 
 SVHNode (const ros::NodeHandle &nh)
 SVHNode constructs a new node object that handles most of the functionality. More...
 
 ~SVHNode ()
 Default DTOR. More...
 

Private Attributes

std_msgs::Float64MultiArray channel_currents
 Current Value message template. More...
 
sensor_msgs::JointState channel_pos_
 joint state message template More...
 
int connect_retry_count
 Number of times the connect routine tries to connect in case that we receive at least one package. More...
 
boost::shared_ptr< driver_svh::SVHFingerManagerfm_
 Handle to the SVH finger manager for library access. More...
 
std::string name_prefix
 Prefix for the driver to identify joint names if the Driver should expext "left_hand_Pinky" than the prefix is left_hand. More...
 
std::string serial_device_name_
 Serial device to use for communication with hardware. More...
 

Detailed Description

Definition at line 48 of file SVHNode.h.

Constructor & Destructor Documentation

SVHNode::SVHNode ( const ros::NodeHandle nh)

SVHNode constructs a new node object that handles most of the functionality.

Parameters
nhROS Nodehandle

Definition at line 39 of file SVHNode.cpp.

SVHNode::~SVHNode ( )

Default DTOR.

Definition at line 213 of file SVHNode.cpp.

Member Function Documentation

void SVHNode::connectCallback ( const std_msgs::Empty &  )

Callback function for connecting to SCHUNK five finger hand.

Definition at line 229 of file SVHNode.cpp.

void SVHNode::dynamic_reconfigure_callback ( svh_controller::svhConfig &  config,
uint32_t  level 
)

Dynamic reconfigure callback to update changing parameters.

Definition at line 220 of file SVHNode.cpp.

void SVHNode::enableChannelCallback ( const std_msgs::Int8ConstPtr &  channel)

Callback function to enable channels of SCHUNK five finger hand.

Definition at line 262 of file SVHNode.cpp.

std_msgs::Float64MultiArray SVHNode::getChannelCurrents ( )

getChannelCurrents Returns the current values of the channels as raw output

Returns
Array containing the current values of the channels in mA

Definition at line 366 of file SVHNode.cpp.

sensor_msgs::JointState SVHNode::getChannelFeedback ( )

SVHNode::getChannelFeedback Gets the latest received positions and efforts from the driver.

Returns
The current joint states (Position and Efforts)

Definition at line 341 of file SVHNode.cpp.

void SVHNode::jointStateCallback ( const sensor_msgs::JointStateConstPtr &  input)

Callback function for setting channel target positions to SCHUNK five finger hand.

Definition at line 268 of file SVHNode.cpp.

void SVHNode::resetChannelCallback ( const std_msgs::Int8ConstPtr &  channel)

Callback function to reset/home channels of SCHUNK five finger hand.

Definition at line 246 of file SVHNode.cpp.

Member Data Documentation

std_msgs::Float64MultiArray SVHNode::channel_currents
private

Current Value message template.

Definition at line 104 of file SVHNode.h.

sensor_msgs::JointState SVHNode::channel_pos_
private

joint state message template

Definition at line 101 of file SVHNode.h.

int SVHNode::connect_retry_count
private

Number of times the connect routine tries to connect in case that we receive at least one package.

Definition at line 95 of file SVHNode.h.

Handle to the SVH finger manager for library access.

Definition at line 89 of file SVHNode.h.

std::string SVHNode::name_prefix
private

Prefix for the driver to identify joint names if the Driver should expext "left_hand_Pinky" than the prefix is left_hand.

Definition at line 98 of file SVHNode.h.

std::string SVHNode::serial_device_name_
private

Serial device to use for communication with hardware.

Definition at line 92 of file SVHNode.h.


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


schunk_svh_driver
Author(s): Georg Heppner
autogenerated on Mon Jun 10 2019 15:04:59