my_robot_hw_3.cpp
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28 
30 
32 {
33 
35 {
36 }
37 
38 bool MyRobotHW3::init(ros::NodeHandle& root_nh, ros::NodeHandle &robot_hw_nh)
39 {
40  using namespace hardware_interface;
41 
42  std::string robot_description;
43  if (!robot_hw_nh.getParam("robot_description", robot_description)) {return false;}
44 
45  // E.g. Read URDF and parse joint names.
46  // Then read joint_name_filter param to know what joints belong to this RobotHW
47 
48  std::vector<std::string> joints;
49  joints.push_back("right_arm_joint_1");
50 
51  // Initialize raw data
52  size_t nb_joints = joints.size();
53  joint_position_.resize(nb_joints);
54  joint_velocity_.resize(nb_joints);
55  joint_effort_.resize(nb_joints);
56  joint_effort_command_.resize(nb_joints);
57  joint_velocity_command_.resize(nb_joints);
58  joint_name_.resize(nb_joints);
59 
60  for (size_t i = 0; i < nb_joints; i++)
61  {
62  joint_name_[i] = joints[i];
63  joint_position_[i] = 1.0;
64  joint_velocity_[i] = 0.0;
65  joint_effort_[i] = 0.1;
66  joint_effort_command_[i] = 1.5;
67  joint_velocity_command_[i] = 0.0;
68  // Populate hardware interfaces
72  }
73 
77 
78  return true;
79 }
80 
81 
82 void MyRobotHW3::read(const ros::Time& time, const ros::Duration& period)
83 {
84 
85 }
86 
87 void MyRobotHW3::write(const ros::Time& time, const ros::Duration& period)
88 {
89 }
90 
91 }
92 
94 
std::vector< double > joint_velocity_
Definition: my_robot_hw_3.h:59
virtual bool init(ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh)
std::vector< std::string > joint_name_
Definition: my_robot_hw_3.h:61
std::vector< double > joint_position_
Definition: my_robot_hw_3.h:58
hardware_interface::EffortJointInterface ej_interface_
Definition: my_robot_hw_3.h:53
void read(const ros::Time &time, const ros::Duration &period)
void write(const ros::Time &time, const ros::Duration &period)
std::vector< double > joint_effort_
Definition: my_robot_hw_3.h:60
std::vector< double > joint_velocity_command_
Definition: my_robot_hw_3.h:57
void registerHandle(const JointStateHandle &handle)
hardware_interface::VelocityJointInterface vj_interface_
Definition: my_robot_hw_3.h:54
JointStateHandle getHandle(const std::string &name)
hardware_interface::JointStateInterface js_interface_
Definition: my_robot_hw_3.h:52
bool getParam(const std::string &key, std::string &s) const
#define PLUGINLIB_EXPORT_CLASS(class_type, base_class_type)
std::vector< double > joint_effort_command_
Definition: my_robot_hw_3.h:56


combined_robot_hw_tests
Author(s): Toni Oliver
autogenerated on Fri Jun 7 2019 22:00:11