Implementation of canopen. More...

#include "ros/ros.h"
#include <urdf/model.h>
#include "std_msgs/String.h"
#include "sensor_msgs/JointState.h"
#include "control_msgs/JointTrajectoryControllerState.h"
#include "brics_actuator/JointVelocities.h"
#include "cob_srvs/Trigger.h"
#include "cob_srvs/SetOperationMode.h"
#include <diagnostic_msgs/DiagnosticArray.h>
#include <iostream>
#include <map>
#include <boost/bind.hpp>
#include <boost/filesystem.hpp>
#include <ipa_canopen_core/canopen.h>
#include <XmlRpcValue.h>
#include <ipa_canopen_ros/JointLimits.h>

Include dependency graph for ipa_canopen_ros.cpp:

Go to the source code of this file.

Classes
struct	BusParams
Typedefs
typedef boost::function< void(const brics_actuator::JointVelocities &)>	JointVelocitiesType
typedef boost::function< bool(cob_srvs::SetOperationMode::Request &, cob_srvs::SetOperationMode::Response &)>	SetOperationModeCallbackType
typedef boost::function< bool(cob_srvs::Trigger::Request &, cob_srvs::Trigger::Response &)>	TriggerType
Functions
bool	CANOpenHalt (cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res, std::string chainName)
bool	CANopenInit (cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res, std::string chainName)
bool	CANopenRecover (cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res, std::string chainName)
int	main (int argc, char **argv)
void	readParamsFromParameterServer (ros::NodeHandle n)
void	setJointConstraints (ros::NodeHandle n)
bool	setOperationModeCallback (cob_srvs::SetOperationMode::Request &req, cob_srvs::SetOperationMode::Response &res, std::string chainName)
void	setVel (const brics_actuator::JointVelocities &msg, std::string chainName)
Variables
std::vector< std::string >	chainNames
std::string	deviceFile
std::map< std::string, JointLimits * >	joint_limits
std::vector< int >	motor_direction

Detailed Description

Implementation of canopen.

Note:: Copyright (c) 2013
Fraunhofer Institute for Manufacturing Engineering and Automation (IPA); Project name: ipa_canopen; ROS stack name: ipa_canopen; ROS package name: ipa_canopen_ros

Author:: Author: Thiago de Freitas, Tobias Sing, Eduard Herkel; Supervised by: Thiago de Freitas email:tdf@ipa.fhg.de

Date:: Date of creation: December 2012

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License LGPL as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License LGPL for more details.

You should have received a copy of the GNU Lesser General Public License LGPL along with this program. If not, see <http://www.gnu.org/licenses/>.

Definition in file ipa_canopen_ros.cpp.

Typedef Documentation

typedef boost::function<void(const brics_actuator::JointVelocities&)> JointVelocitiesType

Definition at line 78 of file ipa_canopen_ros.cpp.

typedef boost::function<bool(cob_srvs::SetOperationMode::Request&, cob_srvs::SetOperationMode::Response&)> SetOperationModeCallbackType

Definition at line 79 of file ipa_canopen_ros.cpp.

typedef boost::function<bool(cob_srvs::Trigger::Request&, cob_srvs::Trigger::Response&)> TriggerType

Definition at line 77 of file ipa_canopen_ros.cpp.

Function Documentation

bool CANOpenHalt	(	cob_srvs::Trigger::Request &	req,
		cob_srvs::Trigger::Response &	res,
		std::string	chainName
	)

Definition at line 184 of file ipa_canopen_ros.cpp.

bool CANopenInit	(	cob_srvs::Trigger::Request &	req,
		cob_srvs::Trigger::Response &	res,
		std::string	chainName
	)

Definition at line 98 of file ipa_canopen_ros.cpp.

bool CANopenRecover	(	cob_srvs::Trigger::Request &	req,
		cob_srvs::Trigger::Response &	res,
		std::string	chainName
	)

Definition at line 144 of file ipa_canopen_ros.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 549 of file ipa_canopen_ros.cpp.

void readParamsFromParameterServer ( ros::NodeHandle n )

Definition at line 237 of file ipa_canopen_ros.cpp.

void setJointConstraints ( ros::NodeHandle n )

Get robot_description from ROS parameter server

Get urdf model out of robot_description

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 419 of file ipa_canopen_ros.cpp.

bool setOperationModeCallback	(	cob_srvs::SetOperationMode::Request &	req,
		cob_srvs::SetOperationMode::Response &	res,
		std::string	chainName
	)

Definition at line 198 of file ipa_canopen_ros.cpp.

void setVel	(	const brics_actuator::JointVelocities &	msg,
		std::string	chainName
	)

Definition at line 204 of file ipa_canopen_ros.cpp.

Variable Documentation

std::vector<std::string> chainNames

Definition at line 96 of file ipa_canopen_ros.cpp.

std::string deviceFile

Definition at line 94 of file ipa_canopen_ros.cpp.

std::map<std::string, JointLimits*> joint_limits

Definition at line 83 of file ipa_canopen_ros.cpp.

std::vector<int> motor_direction

Definition at line 81 of file ipa_canopen_ros.cpp.

Classes

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

Function Documentation

Variable Documentation