PowercubeChainNode Class Reference

Implementation of ROS node for powercube_chain. More...

Public Member Functions
void	diag_init (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	executeCB (const pr2_controllers_msgs::JointTrajectoryGoalConstPtr &goal)
	Executes the callback from the actionlib.
void	lock_semaphore (sem_t *sem)
	PowercubeChainNode (std::string name)
	Constructor for PowercubeChainNode class.
void	publishJointState ()
	Routine for publishing joint_states.
bool	srvCallback_Init (cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res)
	Executes the service callback for init.
bool	srvCallback_Recover (cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res)
	Executes the service callback for recover.
bool	srvCallback_SetDefaultVel (cob_srvs::SetDefaultVel::Request &req, cob_srvs::SetDefaultVel::Response &res)
	Executes the service callback for set_default_vel.
bool	srvCallback_SetOperationMode (cob_srvs::SetOperationMode::Request &req, cob_srvs::SetOperationMode::Response &res)
	Executes the service callback for set_operation_mode.
bool	srvCallback_Stop (cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res)
	Executes the service callback for stop.
void	topicCallback_DirectCommand (const trajectory_msgs::JointTrajectory::ConstPtr &msg)
	Executes the callback from the actionlib.
void	unlock_semaphore (sem_t *sem)
void	updatePCubeCommands ()
	Routine for updating command to the powercubes.
	~PowercubeChainNode ()
	Destructor for PowercubeChainNode class.
Public Attributes
std::string	action_name_
actionlib::SimpleActionServer < pr2_controllers_msgs::JointTrajectoryAction >	as_
sem_t *	can_sem
int	CanBaudrate_
std::string	CanDevice_
std::string	CanModule_
std::vector< double >	cmd_vel_
pr2_controllers_msgs::JointTrajectoryFeedback	feedback_
bool	finished_
bool	isInitialized_
std::vector< std::string >	JointNames_
XmlRpc::XmlRpcValue	JointNames_param_
std::vector< double >	MaxAcc_
XmlRpc::XmlRpcValue	MaxAcc_param_
std::vector< int >	ModIds_
XmlRpc::XmlRpcValue	ModIds_param_
ros::NodeHandle	n_
	create a handle for this node, initialize node
bool	newvel_
PowerCubeCtrl *	PCube_
PowerCubeCtrlParams *	PCubeParams_
pr2_controllers_msgs::JointTrajectoryResult	result_
bool	sem_can_available
ros::ServiceServer	srvServer_Init_
ros::ServiceServer	srvServer_Recover_
ros::ServiceServer	srvServer_SetDefaultVel_
ros::ServiceServer	srvServer_SetOperationMode_
ros::ServiceServer	srvServer_Stop_
ros::Publisher	topicPub_ControllerState_
ros::Publisher	topicPub_JointState_
ros::Subscriber	topicSub_DirectCommand_
trajectory_msgs::JointTrajectory	traj_
trajectory_msgs::JointTrajectoryPoint	traj_point_
int	traj_point_nr_
diagnostic_updater::Updater	updater_

Detailed Description

Implementation of ROS node for powercube_chain.

Offers actionlib and direct command interface.

Definition at line 102 of file cob_powercube_chain.cpp.

Constructor & Destructor Documentation

PowercubeChainNode::PowercubeChainNode ( std::string name ) [inline]

Constructor for PowercubeChainNode class.

Parameters:

name

Name for the actionlib server.

Todo:: : check if yaml parameter file fits to urdf model

Definition at line 162 of file cob_powercube_chain.cpp.

PowercubeChainNode::~PowercubeChainNode ( ) [inline]

Destructor for PowercubeChainNode class.

Definition at line 337 of file cob_powercube_chain.cpp.

Member Function Documentation

void PowercubeChainNode::diag_init ( diagnostic_updater::DiagnosticStatusWrapper & stat ) [inline]

Definition at line 357 of file cob_powercube_chain.cpp.

void PowercubeChainNode::executeCB ( const pr2_controllers_msgs::JointTrajectoryGoalConstPtr & 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:

goal

JointTrajectoryGoal

Definition at line 372 of file cob_powercube_chain.cpp.

void PowercubeChainNode::lock_semaphore ( sem_t * sem ) [inline]

Definition at line 144 of file cob_powercube_chain.cpp.

void PowercubeChainNode::publishJointState ( ) [inline]

Routine for publishing joint_states.

Gets current positions and velocities from the hardware and publishes them as joint_states.

Definition at line 565 of file cob_powercube_chain.cpp.

bool PowercubeChainNode::srvCallback_Init	(	cob_srvs::Trigger::Request &	req,
		cob_srvs::Trigger::Response &	res
	)			`[inline]`

Executes the service callback for init.

Connects to the hardware and initialized it.

Parameters:

	req	Service request
	res	Service response

Definition at line 429 of file cob_powercube_chain.cpp.

bool PowercubeChainNode::srvCallback_Recover	(	cob_srvs::Trigger::Request &	req,
		cob_srvs::Trigger::Response &	res
	)			`[inline]`

Executes the service callback for recover.

Recovers the driver after an emergency stop.

Parameters:

	req	Service request
	res	Service response

Definition at line 498 of file cob_powercube_chain.cpp.

bool PowercubeChainNode::srvCallback_SetDefaultVel	(	cob_srvs::SetDefaultVel::Request &	req,
		cob_srvs::SetDefaultVel::Response &	res
	)			`[inline]`

Executes the service callback for set_default_vel.

Changes the default velocity.

Parameters:

	req	Service request
	res	Service response

Definition at line 551 of file cob_powercube_chain.cpp.

bool PowercubeChainNode::srvCallback_SetOperationMode	(	cob_srvs::SetOperationMode::Request &	req,
		cob_srvs::SetOperationMode::Response &	res
	)			`[inline]`