The class embodiment of the hekateros_control ROS node. More...

#include <hekateros_control.h>

Public Types
typedef std::map< std::string, ros::ServiceClient >	MapClientServices
typedef std::map< std::string, ros::Publisher >	MapPublishers
typedef std::map< std::string, ros::ServiceServer >	MapServices
typedef std::map< std::string, ros::Subscriber >	MapSubscriptions
Public Member Functions
virtual void	advertisePublishers (int nQueueDepth=10)
	Advertise all publishers.
virtual void	advertiseServices ()
	Advertise all server services.
virtual void	clientServices ()
	Initialize client services.
virtual int	configure (const std::string &strCfgFile)
	Configure Hekateros product specifics.
int	connect (const std::string &strDevDynabus, int nBaudRateDynabus, const std::string &strDevArduino, int nBaudRateArduino)
	Connect to Hekateros hardware.
int	disconnect ()
	Disconnect from Hekateros.
ros::NodeHandle &	getNodeHandle ()
	Get bound node handle.
hekateros::HekRobot &	getRobot ()
	Get bound embedded robot instance.
	HekaterosControl (ros::NodeHandle &nh, double hz)
	Default initialization constructor.
virtual void	publish ()
	Publish.
virtual void	subscribeToTopics (int nQueueDepth=10)
	Subscribe to all topics.
void	updateExtendedJointStateMsg (hekateros::HekJointStatePoint &state, HekJointStateExtended &msg)
	Update extended joint state message from current robot joint state.
void	updateExtendedRobotStatusMsg (hekateros::HekRobotState &status, HekRobotStatusExtended &msg)
	Update extended robot status message from current robot status.
void	updateJointStateMsg (hekateros::HekJointStatePoint &state, sensor_msgs::JointState &msg)
	Update joint state message from current robot joint state.
void	updateRobotStatusMsg (hekateros::HekRobotState &status, industrial_msgs::RobotStatus &msg)
	Update robot status message from current robot status.
virtual	~HekaterosControl ()
	Destructor.
Protected Member Functions
bool	calibrate (hekateros_control::Calibrate::Request &req, hekateros_control::Calibrate::Response &rsp)
	Calibrate robot service callback.
bool	clearAlarms (hekateros_control::ClearAlarms::Request &req, hekateros_control::ClearAlarms::Response &rsp)
	Clear robot alarms service callback.
bool	closeGripper (hekateros_control::CloseGripper::Request &req, hekateros_control::CloseGripper::Response &rsp)
	Close end-effector gripper service callback.
bool	estop (hekateros_control::EStop::Request &req, hekateros_control::EStop::Response &rsp)
	Emergency stop robot service callback.
void	execJointCmd (const trajectory_msgs::JointTrajectory &jt)
	Execute joint trajectory subscibed topic callback.
bool	freeze (hekateros_control::Freeze::Request &req, hekateros_control::Freeze::Response &rsp)
	Freeze (stop) robot service callback.
bool	getProductInfo (hekateros_control::GetProductInfo::Request &req, hekateros_control::GetProductInfo::Response &rsp)
	Get robot product information service callback.
bool	gotoBalancedPos (hekateros_control::GotoBalancedPos::Request &req, hekateros_control::GotoBalancedPos::Response &rsp)
	Go to robot's balanced postion service callback.
bool	gotoParkedPos (hekateros_control::GotoParkedPos::Request &req, hekateros_control::GotoParkedPos::Response &rsp)
	Go to robot' parked postion service callback.
bool	gotoZeroPt (hekateros_control::GotoZeroPt::Request &req, hekateros_control::GotoZeroPt::Response &rsp)
	Go to robot's zero point (home) position service callback.
bool	isAlarmed (hekateros_control::IsAlarmed::Request &req, hekateros_control::IsAlarmed::Response &rsp)
	Test if robot is alarmed service callback.
bool	isCalibrated (hekateros_control::IsCalibrated::Request &req, hekateros_control::IsCalibrated::Response &rsp)
	Test if robot is calibrated service callback.
bool	isDescLoaded (hekateros_control::IsDescLoaded::Request &req, hekateros_control::IsDescLoaded::Response &rsp)
	Test if robot description has been loaded service callback.
bool	openGripper (hekateros_control::OpenGripper::Request &req, hekateros_control::OpenGripper::Response &rsp)
	Open end-effector gripper service callback.
void	publishJointState ()
	Publish joint state and extended joint state topics.
void	publishRobotStatus ()
	Publish robot status and extended robot status topics.
bool	release (hekateros_control::Release::Request &req, hekateros_control::Release::Response &rsp)
	Release drive power to robot motors service callback.
bool	resetEStop (hekateros_control::ResetEStop::Request &req, hekateros_control::ResetEStop::Response &rsp)
	Release robot's emergency stop condition service callback.
bool	setRobotMode (hekateros_control::SetRobotMode::Request &req, hekateros_control::SetRobotMode::Response &rsp)
	Set robot's manual/auto mode service callback.
bool	stop (hekateros_control::Stop::Request &req, hekateros_control::Stop::Response &rsp)
	Stop a set of joints robot service callback.
Protected Attributes
MapClientServices	m_clientServices
	Hekateros control client services.
double	m_hz
	application nominal loop rate
sensor_msgs::JointState	m_msgJointState
	joint state message
HekJointStateExtended	m_msgJointStateEx
	extended joint state message
industrial_msgs::RobotStatus	m_msgRobotStatus
	robot status message
HekRobotStatusExtended	m_msgRobotStatusEx
	extended robot status message
ros::NodeHandle &	m_nh
	the node handler bound to this instance
MapPublishers	m_publishers
	Hekateros control publishers.
hekateros::HekRobot	m_robot
	real-time, Hekateros robotic arm
MapServices	m_services
	Hekateros control server services.
MapSubscriptions	m_subscriptions
	Hekateros control subscriptions.

Detailed Description

The class embodiment of the hekateros_control ROS node.

Definition at line 137 of file hekateros_control.h.

Member Typedef Documentation

typedef std::map<std::string, ros::ServiceClient> hekateros_control::HekaterosControl::MapClientServices

map of ROS client services type

Definition at line 144 of file hekateros_control.h.

typedef std::map<std::string, ros::Publisher> hekateros_control::HekaterosControl::MapPublishers

map of ROS publishers type

Definition at line 147 of file hekateros_control.h.

typedef std::map<std::string, ros::ServiceServer> hekateros_control::HekaterosControl::MapServices

map of ROS server services type

Definition at line 141 of file hekateros_control.h.

typedef std::map<std::string, ros::Subscriber> hekateros_control::HekaterosControl::MapSubscriptions

map of ROS subscriptions type

Definition at line 150 of file hekateros_control.h.

Constructor & Destructor Documentation

HekaterosControl::HekaterosControl	(	ros::NodeHandle &	nh,
		double	hz
	)

Default initialization constructor.

Parameters:

nh	Bound node handle.
hz	Application nominal loop rate in Hertz.

Definition at line 142 of file hekateros_control.cpp.

HekaterosControl::~HekaterosControl ( ) [virtual]

Destructor.

Definition at line 147 of file hekateros_control.cpp.

Member Function Documentation

void HekaterosControl::advertisePublishers ( int nQueueDepth = 10 ) [virtual]

Advertise all publishers.

Parameters:

nQueueDepth Maximum queue depth.

Definition at line 589 of file hekateros_control.cpp.

void HekaterosControl::advertiseServices ( ) [virtual]

Advertise all server services.

Definition at line 187 of file hekateros_control.cpp.

bool HekaterosControl::calibrate	(	hekateros_control::Calibrate::Request &	req,
		hekateros_control::Calibrate::Response &	rsp
	)		`[protected]`

Calibrate robot service callback.

Parameters:

req	Service request.
rsp	Service response.

Returns:: Returns true on success, false on failure.

Definition at line 277 of file hekateros_control.cpp.

bool HekaterosControl::clearAlarms	(	hekateros_control::ClearAlarms::Request &	req,
		hekateros_control::ClearAlarms::Response &	rsp
	)		`[protected]`

Clear robot alarms service callback.

Parameters:

req	Service request.
rsp	Service response.

Returns:: Returns true on success, false on failure.

Definition at line 298 of file hekateros_control.cpp.

virtual void hekateros_control::HekaterosControl::clientServices ( ) [inline, virtual]

Initialize client services.

Definition at line 211 of file hekateros_control.h.

bool HekaterosControl::closeGripper	(	hekateros_control::CloseGripper::Request &	req,
		hekateros_control::CloseGripper::Response &	rsp
	)		`[protected]`

Close end-effector gripper service callback.

Parameters:

req	Service request.
rsp	Service response.

Returns:: Returns true on success, false on failure.

Definition at line 310 of file hekateros_control.cpp.

int HekaterosControl::configure ( const std::string & strCfgFile ) [virtual]

Configure Hekateros product specifics.

Parameters:

strCfgFile XML configuration file name.

Returns:: Returns HEK_OK of success, 0 on failure.

Definition at line 152 of file hekateros_control.cpp.

int hekateros_control::HekaterosControl::connect	(	const std::string &	strDevDynabus,
		int	nBaudRateDynabus,
		const std::string &	strDevArduino,
		int	nBaudRateArduino
	)		`[inline]`

Connect to Hekateros hardware.

Parameters:

strDevDynabus	Dynabus serial device name.
nBaudRateDynabus	Dynabus baud rate.
strDevArduino	Arduino serial device name.
nBaudRateArduino	Arduino baud rate.

Returns:: Returns HEK_OK of success, 0 on failure.

Definition at line 184 of file hekateros_control.h.

int hekateros_control::HekaterosControl::disconnect ( ) [inline]

Disconnect from Hekateros.

Returns:: Returns HEK_OK of success, 0 on failure.

Definition at line 198 of file hekateros_control.h.

bool HekaterosControl::estop	(	hekateros_control::EStop::Request &	req,
		hekateros_control::EStop::Response &	rsp
	)		`[protected]`

Emergency stop robot service callback.

Parameters:

req	Service request.
rsp	Service response.

Returns:: Returns true on success, false on failure.

Definition at line 332 of file hekateros_control.cpp.

void HekaterosControl::execJointCmd ( const trajectory_msgs::JointTrajectory & jt ) [protected]

Execute joint trajectory subscibed topic callback.

Parameters:

jt	Joint trajectory message.

Definition at line 810 of file hekateros_control.cpp.

bool HekaterosControl::freeze	(	hekateros_control::Freeze::Request &	req,
		hekateros_control::Freeze::Response &	rsp
	)		`[protected]`

Freeze (stop) robot service callback.

Parameters:

req	Service request.
rsp	Service response.

Returns:: Returns true on success, false on failure.

Definition at line 346 of file hekateros_control.cpp.

ros::NodeHandle& hekateros_control::HekaterosControl::getNodeHandle ( ) [inline]

Get bound node handle.

Returns:: Node handle.

Definition at line 242 of file hekateros_control.h.

bool HekaterosControl::getProductInfo	(	hekateros_control::GetProductInfo::Request &	req,
		hekateros_control::GetProductInfo::Response &	rsp
	)		`[protected]`

Get robot product information service callback.

Parameters:

req	Service request.
rsp	Service response.

Returns:: Returns true on success, false on failure.

Definition at line 360 of file hekateros_control.cpp.

hekateros::HekRobot& hekateros_control::HekaterosControl::getRobot ( ) [inline]

Get bound embedded robot instance.

Returns:: Robot instance.

Definition at line 252 of file hekateros_control.h.

bool HekaterosControl::gotoBalancedPos	(	hekateros_control::GotoBalancedPos::Request &	req,
		hekateros_control::GotoBalancedPos::Response &	rsp
	)		`[protected]`

Go to robot's balanced postion service callback.

Parameters:

req	Service request.
rsp	Service response.

Returns:: Returns true on success, false on failure.

Definition at line 390 of file hekateros_control.cpp.

bool HekaterosControl::gotoParkedPos	(	hekateros_control::GotoParkedPos::Request &	req,
		hekateros_control::GotoParkedPos::Response &	rsp
	)		`[protected]`

Go to robot' parked postion service callback.

Parameters:

req	Service request.
rsp	Service response.

Returns:: Returns true on success, false on failure.

Definition at line 411 of file hekateros_control.cpp.

bool HekaterosControl::gotoZeroPt	(	hekateros_control::GotoZeroPt::Request &	req,
		hekateros_control::GotoZeroPt::Response &	rsp
	)		`[protected]`

Go to robot's zero point (home) position service callback.

Parameters:

req	Service request.
rsp	Service response.

Returns:: Returns true on success, false on failure.

Definition at line 432 of file hekateros_control.cpp.

bool HekaterosControl::isAlarmed	(	hekateros_control::IsAlarmed::Request &	req,
		hekateros_control::IsAlarmed::Response &	rsp
	)		`[protected]`

Test if robot is alarmed service callback.

Parameters:

req	Service request.
rsp	Service response.

Returns:: Returns true on success, false on failure.

Definition at line 453 of file hekateros_control.cpp.

bool HekaterosControl::isCalibrated	(	hekateros_control::IsCalibrated::Request &	req,
		hekateros_control::IsCalibrated::Response &	rsp
	)		`[protected]`

Test if robot is calibrated service callback.

Parameters:

req	Service request.
rsp	Service response.

Returns:: Returns true on success, false on failure.

Definition at line 470 of file hekateros_control.cpp.

bool HekaterosControl::isDescLoaded	(	hekateros_control::IsDescLoaded::Request &	req,
		hekateros_control::IsDescLoaded::Response &	rsp
	)		`[protected]`

Test if robot description has been loaded service callback.

Parameters:

req	Service request.
rsp	Service response.

Returns:: Returns true on success, false on failure.

Definition at line 487 of file hekateros_control.cpp.

bool HekaterosControl::openGripper	(	hekateros_control::OpenGripper::Request &	req,
		hekateros_control::OpenGripper::Response &	rsp
	)		`[protected]`

Open end-effector gripper service callback.

Parameters:

req	Service request.
rsp	Service response.

Returns:: Returns true on success, false on failure.

Definition at line 504 of file hekateros_control.cpp.

void HekaterosControl::publish ( ) [virtual]

Publish.

Call in main loop.

Definition at line 610 of file hekateros_control.cpp.

void HekaterosControl::publishJointState ( ) [protected]

Publish joint state and extended joint state topics.

Definition at line 616 of file hekateros_control.cpp.

void HekaterosControl::publishRobotStatus ( ) [protected]

Publish robot status and extended robot status topics.

Definition at line 636 of file hekateros_control.cpp.

bool HekaterosControl::release	(	hekateros_control::Release::Request &	req,
		hekateros_control::Release::Response &	rsp
	)		`[protected]`

Release drive power to robot motors service callback.

Parameters:

req	Service request.
rsp	Service response.

Returns:: Returns true on success, false on failure.

Definition at line 526 of file hekateros_control.cpp.

bool HekaterosControl::resetEStop	(	hekateros_control::ResetEStop::Request &	req,
		hekateros_control::ResetEStop::Response &	rsp
	)		`[protected]`

Release robot's emergency stop condition service callback.

Parameters:

req	Service request.
rsp	Service response.

Returns:: Returns true on success, false on failure.

Definition at line 540 of file hekateros_control.cpp.

bool HekaterosControl::setRobotMode	(	hekateros_control::SetRobotMode::Request &	req,
		hekateros_control::SetRobotMode::Response &	rsp
	)		`[protected]`

Set robot's manual/auto mode service callback.

Parameters:

req	Service request.
rsp	Service response.

Returns:: Returns true on success, false on failure.

Definition at line 554 of file hekateros_control.cpp.

bool HekaterosControl::stop	(	hekateros_control::Stop::Request &	req,
		hekateros_control::Stop::Response &	rsp
	)		`[protected]`

Stop a set of joints robot service callback.

Parameters:

req	Service request.
rsp	Service response.

Returns:: Returns true on success, false on failure.

Definition at line 568 of file hekateros_control.cpp.

void HekaterosControl::subscribeToTopics ( int nQueueDepth = 10 ) [virtual]

Subscribe to all topics.

Parameters:

nQueueDepth Maximum queue depth.

Definition at line 800 of file hekateros_control.cpp.

void HekaterosControl::updateExtendedJointStateMsg	(	hekateros::HekJointStatePoint &	state,
		HekJointStateExtended &	msg
	)

Update extended joint state message from current robot joint state.

Parameters:

[in]	state	Robot joint state.
[out]	msg	Extended joint state message.

Definition at line 687 of file hekateros_control.cpp.

void HekaterosControl::updateExtendedRobotStatusMsg	(	hekateros::HekRobotState &	status,
		HekRobotStatusExtended &	msg
	)

Update extended robot status message from current robot status.

Parameters:

[in]	status	Robot status.
[out]	msg	Extended roobt status message.

Definition at line 756 of file hekateros_control.cpp.

void HekaterosControl::updateJointStateMsg	(	hekateros::HekJointStatePoint &	state,
		sensor_msgs::JointState &	msg
	)

Update joint state message from current robot joint state.

Parameters:

[in]	state	Robot joint state.
[out]	msg	Joint state message.

Definition at line 656 of file hekateros_control.cpp.

void HekaterosControl::updateRobotStatusMsg	(	hekateros::HekRobotState &	status,
		industrial_msgs::RobotStatus &	msg
	)

Update robot status message from current robot status.

Parameters:

[in]	status	Robot status.
[out]	msg	Robot status message.

Definition at line 733 of file hekateros_control.cpp.

Member Data Documentation

MapClientServices hekateros_control::HekaterosControl::m_clientServices [protected]

Hekateros control client services.

Definition at line 301 of file hekateros_control.h.

double hekateros_control::HekaterosControl::m_hz [protected]

application nominal loop rate

Definition at line 296 of file hekateros_control.h.

sensor_msgs::JointState hekateros_control::HekaterosControl::m_msgJointState [protected]

joint state message

Definition at line 306 of file hekateros_control.h.

HekJointStateExtended hekateros_control::HekaterosControl::m_msgJointStateEx [protected]

extended joint state message

Definition at line 308 of file hekateros_control.h.

industrial_msgs::RobotStatus hekateros_control::HekaterosControl::m_msgRobotStatus [protected]

robot status message

Definition at line 309 of file hekateros_control.h.

HekRobotStatusExtended hekateros_control::HekaterosControl::m_msgRobotStatusEx [protected]

extended robot status message

Definition at line 311 of file hekateros_control.h.

ros::NodeHandle& hekateros_control::HekaterosControl::m_nh [protected]

the node handler bound to this instance

Definition at line 295 of file hekateros_control.h.

MapPublishers hekateros_control::HekaterosControl::m_publishers [protected]

Hekateros control publishers.

Definition at line 302 of file hekateros_control.h.

hekateros::HekRobot hekateros_control::HekaterosControl::m_robot [protected]

real-time, Hekateros robotic arm

Definition at line 297 of file hekateros_control.h.

MapServices hekateros_control::HekaterosControl::m_services [protected]

Hekateros control server services.

Definition at line 300 of file hekateros_control.h.

MapSubscriptions hekateros_control::HekaterosControl::m_subscriptions [protected]

Hekateros control subscriptions.

Definition at line 303 of file hekateros_control.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation