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

Implementation of ROS node for sdh. More...

Public Member Functions

void executeCB (const control_msgs::FollowJointTrajectoryGoalConstPtr &goal)
 Executes the callback from the actionlib. More...
 
void executeCB (const control_msgs::FollowJointTrajectoryGoalConstPtr &goal)
 Executes the callback from the actionlib. More...
 
bool init ()
 Initializes node to get parameters, subscribe and publish to topics. More...
 
bool init ()
 Initializes node to get parameters, subscribe and publish to topics. More...
 
 SdhNode (std::string name)
 Constructor for SdhNode class. More...
 
 SdhNode (std::string name)
 Constructor for SdhNode class. More...
 
bool srvCallback_Disconnect (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
 Executes the service callback for disconnect. More...
 
bool srvCallback_Disconnect (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
 Executes the service callback for disconnect. More...
 
bool srvCallback_EmergencyStop (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
 Executes the service callback for emergency_stop. More...
 
bool srvCallback_EmergencyStop (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
 Executes the service callback for emergency_stop. More...
 
bool srvCallback_Init (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
 Executes the service callback for init. More...
 
bool srvCallback_Init (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
 Executes the service callback for init. More...
 
bool srvCallback_MotorPowerOff (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
 Disable motor power. More...
 
bool srvCallback_MotorPowerOff (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
 Disable motor power. More...
 
bool srvCallback_MotorPowerOn (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
 Enable motor power. More...
 
bool srvCallback_MotorPowerOn (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
 Enable motor power. More...
 
bool srvCallback_Recover (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
 Executes the service callback for recover. More...
 
bool srvCallback_SetOperationMode (cob_srvs::SetString::Request &req, cob_srvs::SetString::Response &res)
 Executes the service callback for set_operation_mode. More...
 
bool srvCallback_SetOperationMode (cob_srvs::SetString::Request &req, cob_srvs::SetString::Response &res)
 Executes the service callback for set_operation_mode. More...
 
bool srvCallback_Stop (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
 Executes the service callback for stop. More...
 
bool srvCallback_Stop (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
 Executes the service callback for stop. More...
 
bool switchOperationMode (const std::string &mode)
 Switches operation mode if possible. More...
 
bool switchOperationMode (const std::string &mode)
 Switches operation mode if possible. More...
 
void topicCallback_setVelocitiesRaw (const std_msgs::Float64MultiArrayPtr &velocities)
 
void topicCallback_setVelocitiesRaw (const std_msgs::Float64MultiArrayPtr &velocities)
 
void updateDsa ()
 Main routine to update dsa. More...
 
void updateSdh ()
 Main routine to update sdh. More...
 
void updateSdh ()
 Main routine to update sdh. More...
 
 ~SdhNode ()
 Destructor for SdhNode class. More...
 
 ~SdhNode ()
 Destructor for SdhNode class. More...
 

Public Attributes

ros::NodeHandle nh_
 create a handle for this node, initialize node More...
 

Private Attributes

std::string action_name_
 
actionlib::SimpleActionServer< control_msgs::FollowJointTrajectoryAction > as_
 
std::vector< int > axes_
 
int baudrate_
 
int DOF_
 
SDH::cDSA * dsa_
 
double dsa_calib_pressure_
 
double dsa_calib_voltage_
 
int dsa_dbg_level_
 
double dsa_sensitivity_
 
int dsadevicenum_
 
std::string dsadevicestring_
 
bool hasNewGoal_
 
int id_read_
 
int id_write_
 
bool isDSAInitialized_
 
bool isError_
 
bool isInitialized_
 
std::vector< std::string > joint_names_
 
std::string operationMode_
 
double pi_
 
SDH::cSDH * sdh_
 
int sdhdevicenum_
 
std::string sdhdevicestring_
 
std::string sdhdevicetype_
 
ros::ServiceServer srvServer_Disconnect_
 
ros::ServiceServer srvServer_EmergencyStop_
 
ros::ServiceServer srvServer_Init_
 
ros::ServiceServer srvServer_MotorOff_
 
ros::ServiceServer srvServer_MotorOn_
 
ros::ServiceServer srvServer_Recover_
 
ros::ServiceServer srvServer_SetOperationMode_
 
ros::ServiceServer srvServer_Stop_
 
std::vector< SDH::cSDH::eAxisState > state_
 
ros::Subscriber subSetVelocitiesRaw_
 
std::vector< double > targetAngles_
 
double timeout_
 
ros::Publisher topicPub_ControllerState_
 
ros::Publisher topicPub_Diagnostics_
 
ros::Publisher topicPub_JointState_
 
ros::Publisher topicPub_Pressure_
 
ros::Publisher topicPub_TactileSensor_
 
ros::Publisher topicPub_Temperature_
 
trajectory_msgs::JointTrajectory traj_
 
std::vector< double > velocities_
 

Static Private Attributes

static const std::vector< std::string > finger_names_
 
static const std::vector< std::string > temperature_names_
 

Detailed Description

Implementation of ROS node for sdh.

Offers actionlib and direct command interface.

Definition at line 58 of file sdh.cpp.

Constructor & Destructor Documentation

◆ SdhNode() [1/2]

SdhNode::SdhNode ( std::string  name)
inline

Constructor for SdhNode class.

Parameters
nameName for the actionlib server

Definition at line 133 of file sdh.cpp.

◆ ~SdhNode() [1/2]

SdhNode::~SdhNode ( )
inline

Destructor for SdhNode class.

Definition at line 147 of file sdh.cpp.

◆ SdhNode() [2/2]

SdhNode::SdhNode ( std::string  name)
inline

Constructor for SdhNode class.

Parameters
nameName for the actionlib server

Definition at line 119 of file sdh_only.cpp.

◆ ~SdhNode() [2/2]

SdhNode::~SdhNode ( )
inline

Destructor for SdhNode class.

Definition at line 132 of file sdh_only.cpp.

Member Function Documentation

◆ executeCB() [1/2]

void SdhNode::executeCB ( const control_msgs::FollowJointTrajectoryGoalConstPtr &  goal)
inline

Executes the callback from the actionlib.

Set the current goal to aborted after receiving a new goal and write new goal to a member variable. Wait for the goal to finish and set actionlib status to succeeded.

Parameters
goalJointTrajectoryGoal

Definition at line 263 of file sdh_only.cpp.

◆ executeCB() [2/2]

void SdhNode::executeCB ( const control_msgs::FollowJointTrajectoryGoalConstPtr &  goal)
inline

Executes the callback from the actionlib.

Set the current goal to aborted after receiving a new goal and write new goal to a member variable. Wait for the goal to finish and set actionlib status to succeeded.

Parameters
goalJointTrajectoryGoal

Definition at line 288 of file sdh.cpp.

◆ init() [1/2]

bool SdhNode::init ( )
inline

Initializes node to get parameters, subscribe and publish to topics.

Definition at line 142 of file sdh_only.cpp.

◆ init() [2/2]

bool SdhNode::init ( )
inline

Initializes node to get parameters, subscribe and publish to topics.

Definition at line 159 of file sdh.cpp.

◆ srvCallback_Disconnect() [1/2]

bool SdhNode::srvCallback_Disconnect ( std_srvs::Trigger::Request &  req,
std_srvs::Trigger::Response &  res 
)
inline

Executes the service callback for disconnect.

Disconnect from SDH and disable motors to prevent overheating.

Parameters
reqService request
resService response

Definition at line 567 of file sdh_only.cpp.

◆ srvCallback_Disconnect() [2/2]

bool SdhNode::srvCallback_Disconnect ( std_srvs::Trigger::Request &  req,
std_srvs::Trigger::Response &  res 
)
inline

Executes the service callback for disconnect.

Disconnect from SDH and DSA and disable motors to prevent overheating.

Parameters
reqService request
resService response

Definition at line 618 of file sdh.cpp.

◆ srvCallback_EmergencyStop() [1/2]

bool SdhNode::srvCallback_EmergencyStop ( std_srvs::Trigger::Request &  req,
std_srvs::Trigger::Response &  res 
)
inline

Executes the service callback for emergency_stop.

Performs an emergency stop.

Parameters
reqService request
resService response

Definition at line 541 of file sdh_only.cpp.

◆ srvCallback_EmergencyStop() [2/2]

bool SdhNode::srvCallback_EmergencyStop ( std_srvs::Trigger::Request &  req,
std_srvs::Trigger::Response &  res 
)
inline

Executes the service callback for emergency_stop.

Performs an emergency stop.

Parameters
reqService request
resService response

Definition at line 592 of file sdh.cpp.

◆ srvCallback_Init() [1/2]

bool SdhNode::srvCallback_Init ( std_srvs::Trigger::Request &  req,
std_srvs::Trigger::Response &  res 
)
inline

Executes the service callback for init.

Connects to the hardware and initialized it.

Parameters
reqService request
resService response

Definition at line 385 of file sdh_only.cpp.

◆ srvCallback_Init() [2/2]

bool SdhNode::srvCallback_Init ( std_srvs::Trigger::Request &  req,
std_srvs::Trigger::Response &  res 
)
inline

Executes the service callback for init.

Connects to the hardware and initialized it.

Parameters
reqService request
resService response

Definition at line 415 of file sdh.cpp.

◆ srvCallback_MotorPowerOff() [1/2]

bool SdhNode::srvCallback_MotorPowerOff ( std_srvs::Trigger::Request &  req,
std_srvs::Trigger::Response &  res 
)
inline

Disable motor power.

Parameters
reqService request
resService response

Definition at line 616 of file sdh_only.cpp.

◆ srvCallback_MotorPowerOff() [2/2]

bool SdhNode::srvCallback_MotorPowerOff ( std_srvs::Trigger::Request &  req,
std_srvs::Trigger::Response &  res 
)
inline

Disable motor power.

Parameters
reqService request
resService response

Definition at line 669 of file sdh.cpp.

◆ srvCallback_MotorPowerOn() [1/2]

bool SdhNode::srvCallback_MotorPowerOn ( std_srvs::Trigger::Request &  req,
std_srvs::Trigger::Response &  res 
)
inline

Enable motor power.

Parameters
reqService request
resService response

Definition at line 594 of file sdh_only.cpp.

◆ srvCallback_MotorPowerOn() [2/2]

bool SdhNode::srvCallback_MotorPowerOn ( std_srvs::Trigger::Request &  req,
std_srvs::Trigger::Response &  res 
)
inline

Enable motor power.

Parameters
reqService request
resService response

Definition at line 647 of file sdh.cpp.

◆ srvCallback_Recover()

bool SdhNode::srvCallback_Recover ( std_srvs::Trigger::Request &  req,
std_srvs::Trigger::Response &  res 
)
inline

Executes the service callback for recover.

Recovers the hardware after an emergency stop.

Parameters
reqService request
resService response

Definition at line 490 of file sdh_only.cpp.

◆ srvCallback_SetOperationMode() [1/2]

bool SdhNode::srvCallback_SetOperationMode ( cob_srvs::SetString::Request &  req,
cob_srvs::SetString::Response &  res 
)
inline

Executes the service callback for set_operation_mode.

Changes the operation mode.

Parameters
reqService request
resService response

Definition at line 505 of file sdh_only.cpp.

◆ srvCallback_SetOperationMode() [2/2]

bool SdhNode::srvCallback_SetOperationMode ( cob_srvs::SetString::Request &  req,
cob_srvs::SetString::Response &  res 
)
inline

Executes the service callback for set_operation_mode.

Changes the operation mode.

Parameters
reqService request
resService response

Definition at line 553 of file sdh.cpp.

◆ srvCallback_Stop() [1/2]

bool SdhNode::srvCallback_Stop ( std_srvs::Trigger::Request &  req,
std_srvs::Trigger::Response &  res 
)
inline

Executes the service callback for stop.

Stops all hardware movements.

Parameters
reqService request
resService response

Definition at line 463 of file sdh_only.cpp.

◆ srvCallback_Stop() [2/2]

bool SdhNode::srvCallback_Stop ( std_srvs::Trigger::Request &  req,
std_srvs::Trigger::Response &  res 
)
inline

Executes the service callback for stop.

Stops all hardware movements.

Parameters
reqService request
resService response

Definition at line 525 of file sdh.cpp.

◆ switchOperationMode() [1/2]

bool SdhNode::switchOperationMode ( const std::string &  mode)
inline

Switches operation mode if possible.

Parameters
modenew mode

Definition at line 224 of file sdh_only.cpp.

◆ switchOperationMode() [2/2]

bool SdhNode::switchOperationMode ( const std::string &  mode)
inline

Switches operation mode if possible.

Parameters
modenew mode

Definition at line 249 of file sdh.cpp.

◆ topicCallback_setVelocitiesRaw() [1/2]

void SdhNode::topicCallback_setVelocitiesRaw ( const std_msgs::Float64MultiArrayPtr &  velocities)
inline

Definition at line 345 of file sdh_only.cpp.

◆ topicCallback_setVelocitiesRaw() [2/2]

void SdhNode::topicCallback_setVelocitiesRaw ( const std_msgs::Float64MultiArrayPtr &  velocities)
inline

Definition at line 375 of file sdh.cpp.

◆ updateDsa()

void SdhNode::updateDsa ( )
inline

Main routine to update dsa.

Reads out current values.

Definition at line 914 of file sdh.cpp.

◆ updateSdh() [1/2]

void SdhNode::updateSdh ( )
inline

Main routine to update sdh.

Sends target to hardware and reads out current configuration.

Definition at line 638 of file sdh_only.cpp.

◆ updateSdh() [2/2]

void SdhNode::updateSdh ( )
inline

Main routine to update sdh.

Sends target to hardware and reads out current configuration.

Definition at line 691 of file sdh.cpp.

Member Data Documentation

◆ action_name_

std::string SdhNode::action_name_
private

Definition at line 87 of file sdh.cpp.

◆ as_

actionlib::SimpleActionServer< control_msgs::FollowJointTrajectoryAction > SdhNode::as_
private

Definition at line 86 of file sdh.cpp.

◆ axes_

std::vector< int > SdhNode::axes_
private

Definition at line 118 of file sdh.cpp.

◆ baudrate_

int SdhNode::baudrate_
private

Definition at line 106 of file sdh.cpp.

◆ DOF_

int SdhNode::DOF_
private

Definition at line 112 of file sdh.cpp.

◆ dsa_

SDH::cDSA* SdhNode::dsa_
private

Definition at line 94 of file sdh.cpp.

◆ dsa_calib_pressure_

double SdhNode::dsa_calib_pressure_
private

Definition at line 103 of file sdh.cpp.

◆ dsa_calib_voltage_

double SdhNode::dsa_calib_voltage_
private

Definition at line 104 of file sdh.cpp.

◆ dsa_dbg_level_

int SdhNode::dsa_dbg_level_
private

Definition at line 101 of file sdh.cpp.

◆ dsa_sensitivity_

double SdhNode::dsa_sensitivity_
private

Definition at line 102 of file sdh.cpp.

◆ dsadevicenum_

int SdhNode::dsadevicenum_
private

Definition at line 105 of file sdh.cpp.

◆ dsadevicestring_

std::string SdhNode::dsadevicestring_
private

Definition at line 100 of file sdh.cpp.

◆ finger_names_

const std::vector< std::string > SdhNode::finger_names_
staticprivate
Initial value:
= {
"finger_2", "thumb_", "finger_1"
}

Definition at line 125 of file sdh.cpp.

◆ hasNewGoal_

bool SdhNode::hasNewGoal_
private

Definition at line 121 of file sdh.cpp.

◆ id_read_

int SdhNode::id_read_
private

Definition at line 106 of file sdh.cpp.

◆ id_write_

int SdhNode::id_write_
private

Definition at line 106 of file sdh.cpp.

◆ isDSAInitialized_

bool SdhNode::isDSAInitialized_
private

Definition at line 110 of file sdh.cpp.

◆ isError_

bool SdhNode::isError_
private

Definition at line 111 of file sdh.cpp.

◆ isInitialized_

bool SdhNode::isInitialized_
private

Definition at line 109 of file sdh.cpp.

◆ joint_names_

std::vector< std::string > SdhNode::joint_names_
private

Definition at line 117 of file sdh.cpp.

◆ nh_

ros::NodeHandle SdhNode::nh_

create a handle for this node, initialize node

Definition at line 62 of file sdh.cpp.

◆ operationMode_

std::string SdhNode::operationMode_
private

Definition at line 122 of file sdh.cpp.

◆ pi_

double SdhNode::pi_
private

Definition at line 113 of file sdh.cpp.

◆ sdh_

SDH::cSDH * SdhNode::sdh_
private

Definition at line 93 of file sdh.cpp.

◆ sdhdevicenum_

int SdhNode::sdhdevicenum_
private

Definition at line 99 of file sdh.cpp.

◆ sdhdevicestring_

std::string SdhNode::sdhdevicestring_
private

Definition at line 98 of file sdh.cpp.

◆ sdhdevicetype_

std::string SdhNode::sdhdevicetype_
private

Definition at line 97 of file sdh.cpp.

◆ srvServer_Disconnect_

ros::ServiceServer SdhNode::srvServer_Disconnect_
private

Definition at line 81 of file sdh.cpp.

◆ srvServer_EmergencyStop_

ros::ServiceServer SdhNode::srvServer_EmergencyStop_
private

Definition at line 80 of file sdh.cpp.

◆ srvServer_Init_

ros::ServiceServer SdhNode::srvServer_Init_
private

Definition at line 76 of file sdh.cpp.

◆ srvServer_MotorOff_

ros::ServiceServer SdhNode::srvServer_MotorOff_
private

Definition at line 83 of file sdh.cpp.

◆ srvServer_MotorOn_

ros::ServiceServer SdhNode::srvServer_MotorOn_
private

Definition at line 82 of file sdh.cpp.

◆ srvServer_Recover_

ros::ServiceServer SdhNode::srvServer_Recover_
private

Definition at line 78 of file sdh.cpp.

◆ srvServer_SetOperationMode_

ros::ServiceServer SdhNode::srvServer_SetOperationMode_
private

Definition at line 79 of file sdh.cpp.

◆ srvServer_Stop_

ros::ServiceServer SdhNode::srvServer_Stop_
private

Definition at line 77 of file sdh.cpp.

◆ state_

std::vector< SDH::cSDH::eAxisState > SdhNode::state_
private

Definition at line 95 of file sdh.cpp.

◆ subSetVelocitiesRaw_

ros::Subscriber SdhNode::subSetVelocitiesRaw_
private

Definition at line 73 of file sdh.cpp.

◆ targetAngles_

std::vector< double > SdhNode::targetAngles_
private

Definition at line 119 of file sdh.cpp.

◆ temperature_names_

const std::vector< std::string > SdhNode::temperature_names_
staticprivate
Initial value:
= {
"root",
"proximal_finger_1", "distal_finger_1",
"proximal_finger_2", "distal_finger_2",
"proximal_finger_3", "distal_finger_3",
"controller", "pcb"
}

Definition at line 124 of file sdh.cpp.

◆ timeout_

double SdhNode::timeout_
private

Definition at line 107 of file sdh.cpp.

◆ topicPub_ControllerState_

ros::Publisher SdhNode::topicPub_ControllerState_
private

Definition at line 66 of file sdh.cpp.

◆ topicPub_Diagnostics_

ros::Publisher SdhNode::topicPub_Diagnostics_
private

Definition at line 68 of file sdh.cpp.

◆ topicPub_JointState_

ros::Publisher SdhNode::topicPub_JointState_
private

Definition at line 65 of file sdh.cpp.

◆ topicPub_Pressure_

ros::Publisher SdhNode::topicPub_Pressure_
private

Definition at line 70 of file sdh.cpp.

◆ topicPub_TactileSensor_

ros::Publisher SdhNode::topicPub_TactileSensor_
private

Definition at line 67 of file sdh.cpp.

◆ topicPub_Temperature_

ros::Publisher SdhNode::topicPub_Temperature_
private

Definition at line 69 of file sdh.cpp.

◆ traj_

trajectory_msgs::JointTrajectory SdhNode::traj_
private

Definition at line 115 of file sdh.cpp.

◆ velocities_

std::vector< double > SdhNode::velocities_
private

Definition at line 120 of file sdh.cpp.

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

schunk_sdh
Author(s): Mathias Luedtke , Florian Weisshardt
autogenerated on Sat May 7 2022 02:17:17