#include <iostream>
#include <boost/thread/thread.hpp>
#include <boost/date_time.hpp>
#include <boost/thread/locks.hpp>
#include "ros/ros.h"
#include "ros/service.h"
#include "ros/service_server.h"
#include "sensor_msgs/JointState.h"
#include "std_msgs/String.h"
#include <stdio.h>
#include <string>
#include "BHand/BHand.h"
#include "controlAllegroHand.h"

Include dependency graph for allegroNode.cpp:

Defines
#define	JOINT_CMD_TOPIC "/allegroHand/joint_cmd"
#define	JOINT_STATE_TOPIC "/allegroHand/joint_states"
#define	LIB_CMD_TOPIC "/allegroHand/lib_cmd"
Functions
void	libCmdCallback (const std_msgs::String::ConstPtr &msg)
int	main (int argc, char **argv)
void	SetjointCallback (const sensor_msgs::JointState &msg)
Variables
controlAllegroHand *	canDevice
double	current_position [DOF_JOINTS] = {0.0}
double	current_position_filtered [DOF_JOINTS] = {0.0}
double	current_velocity [DOF_JOINTS] = {0.0}
double	current_velocity_filtered [DOF_JOINTS] = {0.0}
double	desired_position [DOF_JOINTS] = {0.0}
double	desired_torque [DOF_JOINTS] = {0.0}
double	dt
int	frame = 0
eMotionType	gMotionType = eMotionType_NONE
ros::Subscriber	joint_cmd_sub
ros::Publisher	joint_state_pub
std::string	jointNames [DOF_JOINTS]
bool	kill = false
int	lEmergencyStop = 0
std::string	lib_cmd
ros::Subscriber	lib_cmd_sub
bool	lIsBegin = false
sensor_msgs::JointState	msgJoint
boost::mutex *	mutex
BHand *	pBHand = NULL
bool	pdControl = true
double	previous_position [DOF_JOINTS] = {0.0}
double	previous_position_filtered [DOF_JOINTS] = {0.0}
double	previous_velocity [DOF_JOINTS] = {0.0}
double	secs
ros::Time	tnow
ros::Time	tstart

Define Documentation

#define JOINT_CMD_TOPIC "/allegroHand/joint_cmd"

Definition at line 31 of file allegroNode.cpp.

#define JOINT_STATE_TOPIC "/allegroHand/joint_states"

Definition at line 30 of file allegroNode.cpp.

#define LIB_CMD_TOPIC "/allegroHand/lib_cmd"

Definition at line 32 of file allegroNode.cpp.

Function Documentation

void libCmdCallback ( const std_msgs::String::ConstPtr & msg )

Definition at line 101 of file allegroNode.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 161 of file allegroNode.cpp.

void SetjointCallback ( const sensor_msgs::JointState & msg )

Definition at line 89 of file allegroNode.cpp.

Variable Documentation

controlAllegroHand* canDevice

Definition at line 84 of file allegroNode.cpp.

double current_position[DOF_JOINTS] = {0.0}

Definition at line 36 of file allegroNode.cpp.

double current_position_filtered[DOF_JOINTS] = {0.0}

Definition at line 38 of file allegroNode.cpp.

double current_velocity[DOF_JOINTS] = {0.0}

Definition at line 41 of file allegroNode.cpp.

double current_velocity_filtered[DOF_JOINTS] = {0.0}

Definition at line 43 of file allegroNode.cpp.

double desired_position[DOF_JOINTS] = {0.0}

Definition at line 35 of file allegroNode.cpp.

double desired_torque[DOF_JOINTS] = {0.0}

Definition at line 45 of file allegroNode.cpp.

double dt

Definition at line 75 of file allegroNode.cpp.

int frame = 0

Definition at line 55 of file allegroNode.cpp.

eMotionType gMotionType = eMotionType_NONE

Definition at line 78 of file allegroNode.cpp.

ros::Subscriber joint_cmd_sub

Definition at line 67 of file allegroNode.cpp.

ros::Publisher joint_state_pub

Definition at line 66 of file allegroNode.cpp.

std::string jointNames[DOF_JOINTS]

Initial value:

 {    "joint_0.0",    "joint_1.0",    "joint_2.0",   "joint_3.0" , 
                                                                                   "joint_4.0",    "joint_5.0",    "joint_6.0",   "joint_7.0" , 
                                                                                   "joint_8.0",    "joint_9.0",    "joint_10.0",  "joint_11.0", 
                                                                                   "joint_12.0",   "joint_13.0",   "joint_14.0",  "joint_15.0" }