Public Member Functions | Public Attributes | Private Attributes
SdhNode Class Reference

Implementation of ROS node for sdh. More...

List of all members.

Public Member Functions

void executeCB (const control_msgs::FollowJointTrajectoryGoalConstPtr &goal)
 Executes the callback from the actionlib.
bool init ()
 Initializes node to get parameters, subscribe and publish to topics.
bool parseDegFromJointValue (const brics_actuator::JointValue &val, double &deg_val)
 SdhNode (std::string name)
 Constructor for SdhNode class.
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_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_setVelocities (const brics_actuator::JointVelocities::ConstPtr &msg)
void topicCallback_setVelocitiesRaw (const std_msgs::Float32MultiArrayPtr &velocities)
void updateDsa ()
 Main routine to update dsa.
void updateSdh ()
 Main routine to update sdh.
 ~SdhNode ()
 Destructor for SdhNode class.

Public Attributes

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

Private Attributes

std::string action_name_
actionlib::SimpleActionServer
< control_msgs::FollowJointTrajectoryAction
as_
std::vector< int > axes_
int baudrate_
int DOF_
SDH::cDSA * dsa_
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_Init_
ros::ServiceServer srvServer_Recover_
ros::ServiceServer srvServer_SetOperationMode_
ros::ServiceServer srvServer_Stop_
std::vector
< SDH::cSDH::eAxisState > 
state_
ros::Subscriber subSetVelocities_
ros::Subscriber subSetVelocitiesRaw_
std::vector< double > targetAngles_
double timeout_
ros::Publisher topicPub_ControllerState_
ros::Publisher topicPub_Diagnostics_
ros::Publisher topicPub_JointState_
ros::Publisher topicPub_TactileSensor_
trajectory_msgs::JointTrajectory traj_
std::vector< double > velocities_

Detailed Description

Implementation of ROS node for sdh.

Offers actionlib and direct command interface.

Definition at line 99 of file sdh.cpp.


Constructor & Destructor Documentation

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

Constructor for SdhNode class.

Parameters:
nameName for the actionlib server

Definition at line 163 of file sdh.cpp.

SdhNode::~SdhNode ( ) [inline]

Destructor for SdhNode class.

Definition at line 179 of file sdh.cpp.


Member Function Documentation

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 272 of file sdh.cpp.

bool SdhNode::init ( ) [inline]

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

Definition at line 192 of file sdh.cpp.

bool SdhNode::parseDegFromJointValue ( const brics_actuator::JointValue val,
double &  deg_val 
) [inline]

Definition at line 375 of file sdh.cpp.

Executes the service callback for init.

Connects to the hardware and initialized it.

Parameters:
reqService request
resService response

Definition at line 425 of file sdh.cpp.

Executes the service callback for recover.

Recovers the hardware after an emergency stop.

Parameters:
reqService request
resService response

Definition at line 551 of file sdh.cpp.

Executes the service callback for set_operation_mode.

Changes the operation mode.

Parameters:
reqService request
resService response

Definition at line 567 of file sdh.cpp.

Executes the service callback for stop.

Stops all hardware movements.

Parameters:
reqService request
resService response

Definition at line 523 of file sdh.cpp.

Definition at line 387 of file sdh.cpp.

void SdhNode::topicCallback_setVelocitiesRaw ( const std_msgs::Float32MultiArrayPtr &  velocities) [inline]

Definition at line 345 of file sdh.cpp.

void SdhNode::updateDsa ( ) [inline]

Main routine to update dsa.

Reads out current values.

Definition at line 811 of file sdh.cpp.

void SdhNode::updateSdh ( ) [inline]

Main routine to update sdh.

Sends target to hardware and reads out current configuration.

Definition at line 598 of file sdh.cpp.


Member Data Documentation

std::string SdhNode::action_name_ [private]

Definition at line 124 of file sdh.cpp.

Definition at line 123 of file sdh.cpp.

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

Definition at line 151 of file sdh.cpp.

int SdhNode::baudrate_ [private]

Definition at line 139 of file sdh.cpp.

int SdhNode::DOF_ [private]

Definition at line 145 of file sdh.cpp.

SDH::cDSA* SdhNode::dsa_ [private]

Definition at line 131 of file sdh.cpp.

int SdhNode::dsadevicenum_ [private]

Definition at line 138 of file sdh.cpp.

std::string SdhNode::dsadevicestring_ [private]

Definition at line 137 of file sdh.cpp.

bool SdhNode::hasNewGoal_ [private]

Definition at line 154 of file sdh.cpp.

int SdhNode::id_read_ [private]

Definition at line 139 of file sdh.cpp.

int SdhNode::id_write_ [private]

Definition at line 139 of file sdh.cpp.

Definition at line 143 of file sdh.cpp.

bool SdhNode::isError_ [private]

Definition at line 144 of file sdh.cpp.

bool SdhNode::isInitialized_ [private]

Definition at line 142 of file sdh.cpp.

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

Definition at line 150 of file sdh.cpp.

create a handle for this node, initialize node

Definition at line 103 of file sdh.cpp.

std::string SdhNode::operationMode_ [private]

Definition at line 155 of file sdh.cpp.

double SdhNode::pi_ [private]

Definition at line 146 of file sdh.cpp.

SDH::cSDH* SdhNode::sdh_ [private]

Definition at line 130 of file sdh.cpp.

int SdhNode::sdhdevicenum_ [private]

Definition at line 136 of file sdh.cpp.

std::string SdhNode::sdhdevicestring_ [private]

Definition at line 135 of file sdh.cpp.

std::string SdhNode::sdhdevicetype_ [private]

Definition at line 134 of file sdh.cpp.

Definition at line 116 of file sdh.cpp.

Definition at line 118 of file sdh.cpp.

Definition at line 119 of file sdh.cpp.

Definition at line 117 of file sdh.cpp.

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

Definition at line 132 of file sdh.cpp.

Definition at line 113 of file sdh.cpp.

Definition at line 112 of file sdh.cpp.

Definition at line 152 of file sdh.cpp.

double SdhNode::timeout_ [private]

Definition at line 140 of file sdh.cpp.

Definition at line 107 of file sdh.cpp.

Definition at line 109 of file sdh.cpp.

Definition at line 106 of file sdh.cpp.

Definition at line 108 of file sdh.cpp.

trajectory_msgs::JointTrajectory SdhNode::traj_ [private]

Definition at line 148 of file sdh.cpp.

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

Definition at line 153 of file sdh.cpp.


The documentation for this class was generated from the following file:
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schunk_sdh
Author(s): Florian Weisshardt
autogenerated on Tue Mar 5 2013 14:44:11