Contains the main for the real Shadow Dextrous Hand. We start the publishers / subscribers in this node. They all share the same RealShadowhand object, this way the subscriber can update the hand properties, while the publishers publish up to date data. The diagnostics and the other publisher are started in two different threads, to allow them to be published at different frequencies. More...

#include <ros/ros.h>
#include <boost/thread/thread.hpp>
#include <boost/smart_ptr.hpp>
#include "sr_hand/sr_subscriber.h"
#include "sr_hand/sr_publisher.h"
#include "sr_hand/sr_diagnosticer.h"
#include "sr_hand/hand/real_shadowhand.h"

Include dependency graph for real_shadowhand_node.cpp:

Go to the source code of this file.

Functions
int	main (int argc, char **argv)

void	run_diagnotics (boost::shared_ptr< SRDiagnosticer > shadowhand_diag)

void	run_publisher (boost::shared_ptr< SRPublisher > shadowhand_pub)

Detailed Description

Contains the main for the real Shadow Dextrous Hand. We start the publishers / subscribers in this node. They all share the same RealShadowhand object, this way the subscriber can update the hand properties, while the publishers publish up to date data. The diagnostics and the other publisher are started in two different threads, to allow them to be published at different frequencies.

Author: Ugo Cupcic ugo@s.nosp@m.hado.nosp@m.wrobo.nosp@m.t.co.nosp@m.m

Date: Wed Apr 7 15:37:06 2010

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.

Definition in file real_shadowhand_node.cpp.

Function Documentation

int main	(	int	argc,
		char **	argv
	)

The main function initializes the links with the robot, initializes this ROS subscriber and sets the different callbacks. This ROS subscriber will listen for new commands and send them to the robot.

Parameters

argc
argv

Returns: -1 if error linking with the robot (i.e. robot code not started)

Definition at line 79 of file real_shadowhand_node.cpp.

void run_diagnotics ( boost::shared_ptr< SRDiagnosticer > shadowhand_diag )

Definition at line 52 of file real_shadowhand_node.cpp.

void run_publisher ( boost::shared_ptr< SRPublisher > shadowhand_pub )

Definition at line 60 of file real_shadowhand_node.cpp.

Functions

Detailed Description

Function Documentation