Public Member Functions | |
| DemonstratorNode () | |
| Constructor. | |
| void | executeTrajectory (const control_msgs::FollowJointTrajectoryGoalConstPtr &goal) |
| void | getRobotDescriptionParameters () |
| bool | getROSParameters () |
| Get ROS parameters from parameter server. | |
| bool | publishStates () |
| void | runAutoInit () |
| bool | srvCallbackInit (cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res) |
| bool | srvCallbackRecover (cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res) |
| bool | srvCallbackStop (cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res) |
| Stops robot immediately. | |
| void | topicCallbackCommandPos (const brics_actuator::JointPositions::ConstPtr &msg) |
| ~DemonstratorNode () | |
| Destructor. | |
Public Attributes | |
| actionlib::SimpleActionServer < control_msgs::FollowJointTrajectoryAction > | as_ |
| bool | auto_init_ |
| bool | error_ |
| std::string | error_msg_ |
| bool | initialized_ |
| handle for Serial port | |
| ros::Time | last_publish_time_ |
| MapDemonCtrlMaestro * | md_ctrl_ |
| handle for 3d-mapping-demon ctrl | |
| DemonstratorParams * | md_params_ |
| handle for 3d-mapping-demon parameters | |
| ros::NodeHandle | n_ |
| create a handle for this node, initialize node | |
| ros::ServiceServer | srv_server_init_ |
| declaration of service servers | |
| ros::ServiceServer | srv_server_recover_ |
| ros::ServiceServer | srv_server_stop_ |
| bool | stopped_ |
| ros::Publisher | topic_pub_diagnostic_ |
| ros::Publisher | topic_pub_joint_state_ |
| declaration of topics to publish | |
| ros::Subscriber | topic_sub_command_pos_ |
| declaration of topics to subscribe | |
Definition at line 25 of file demonstrator_node.cpp.
| DemonstratorNode::DemonstratorNode | ( | ) | [inline] |
Constructor.
implementation of topics to publish
implementation of topics to subscribe
implementation of service servers
Definition at line 66 of file demonstrator_node.cpp.
| DemonstratorNode::~DemonstratorNode | ( | ) | [inline] |
Destructor.
Definition at line 100 of file demonstrator_node.cpp.
| void DemonstratorNode::executeTrajectory | ( | const control_msgs::FollowJointTrajectoryGoalConstPtr & | goal | ) | [inline] |
Definition at line 272 of file demonstrator_node.cpp.
| void DemonstratorNode::getRobotDescriptionParameters | ( | ) | [inline] |
always 2 for mapping-demon
set DOF
This tries to extract the parameters from the urdf file Get max velocities out of urdf model
Get lower limits out of urdf model
Get offsets out of urdf model
Set parameters
Definition at line 198 of file demonstrator_node.cpp.
| bool DemonstratorNode::getROSParameters | ( | ) | [inline] |
Get ROS parameters from parameter server.
get serial_device
get Baud Rate from parameter server
Initialize port parameters and operation mode
Set joint names
get operation mode from parameter server
Definition at line 106 of file demonstrator_node.cpp.
| bool DemonstratorNode::publishStates | ( | ) | [inline] |
don't publish any of this if not initialised
create JointState message and publish
publish operation mode topic
Definition at line 570 of file demonstrator_node.cpp.
| void DemonstratorNode::runAutoInit | ( | ) | [inline] |
Definition at line 256 of file demonstrator_node.cpp.
| bool DemonstratorNode::srvCallbackInit | ( | cob_srvs::Trigger::Request & | req, |
| cob_srvs::Trigger::Response & | res | ||
| ) | [inline] |
initialize
Definition at line 451 of file demonstrator_node.cpp.
| bool DemonstratorNode::srvCallbackRecover | ( | cob_srvs::Trigger::Request & | req, |
| cob_srvs::Trigger::Response & | res | ||
| ) | [inline] |
Definition at line 513 of file demonstrator_node.cpp.
| bool DemonstratorNode::srvCallbackStop | ( | cob_srvs::Trigger::Request & | req, |
| cob_srvs::Trigger::Response & | res | ||
| ) | [inline] |
Stops robot immediately.
Definition at line 486 of file demonstrator_node.cpp.
| void DemonstratorNode::topicCallbackCommandPos | ( | const brics_actuator::JointPositions::ConstPtr & | msg | ) | [inline] |
check dimensions
parse positions
check joint name
check angular unit
check angular limits
if all checks are successful, parse the position value for this joint
Definition at line 313 of file demonstrator_node.cpp.
| actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction> DemonstratorNode::as_ |
Definition at line 46 of file demonstrator_node.cpp.
Definition at line 61 of file demonstrator_node.cpp.
Definition at line 60 of file demonstrator_node.cpp.
| std::string DemonstratorNode::error_msg_ |
Definition at line 62 of file demonstrator_node.cpp.
Definition at line 63 of file demonstrator_node.cpp.
handle for 3d-mapping-demon ctrl
Definition at line 49 of file demonstrator_node.cpp.
handle for 3d-mapping-demon parameters
Definition at line 52 of file demonstrator_node.cpp.
create a handle for this node, initialize node
Definition at line 29 of file demonstrator_node.cpp.
declaration of service servers
Definition at line 41 of file demonstrator_node.cpp.
Definition at line 43 of file demonstrator_node.cpp.
Definition at line 42 of file demonstrator_node.cpp.
Definition at line 59 of file demonstrator_node.cpp.
Definition at line 34 of file demonstrator_node.cpp.
declaration of topics to publish
Definition at line 32 of file demonstrator_node.cpp.
declaration of topics to subscribe
Definition at line 37 of file demonstrator_node.cpp.