#include <jaco_arm.h>

Public Member Functions
void	cartesianVelocityCallback (const geometry_msgs::TwistStampedConstPtr &cartesian_vel)
bool	homeArmServiceCallback (jaco_msgs::HomeArm::Request &req, jaco_msgs::HomeArm::Response &res)
	JacoArm (JacoComm &arm, const ros::NodeHandle &node_handle)
void	jointVelocityCallback (const jaco_msgs::JointVelocityConstPtr &joint_vel)
bool	startServiceCallback (jaco_msgs::Start::Request &req, jaco_msgs::Start::Response &res)
	Handler for "start" service.
bool	stopServiceCallback (jaco_msgs::Stop::Request &req, jaco_msgs::Stop::Response &res)
	Handler for "stop" service.
	~JacoArm ()
Private Member Functions
void	cartesianVelocityTimer (const ros::TimerEvent &)
void	jointVelocityTimer (const ros::TimerEvent &)
void	positionTimer (const ros::TimerEvent &)
void	publishFingerPosition (void)
	Publishes the current finger positions.
void	publishJointAngles (void)
	Publishes the current joint angles.
void	publishToolPosition (void)
	Publishes the current cartesian coordinates.
void	statusTimer (const ros::TimerEvent &)
Private Attributes
double	cartesian_vel_interval_seconds_
double	cartesian_vel_timeout_seconds_
ros::Timer	cartesian_vel_timer_
bool	cartesian_vel_timer_flag_
CartesianInfo	cartesian_velocities_
ros::Subscriber	cartesian_velocity_subscriber_
ros::Publisher	finger_position_publisher_
ros::ServiceServer	homing_service_
JacoComm &	jaco_comm_
ros::Publisher	joint_angles_publisher_
ros::Publisher	joint_state_publisher_
double	joint_vel_interval_seconds_
double	joint_vel_timeout_seconds_
ros::Timer	joint_vel_timer_
bool	joint_vel_timer_flag_
AngularInfo	joint_velocities_
ros::Subscriber	joint_velocity_subscriber_
ros::Time	last_cartesian_vel_cmd_time_
ros::Time	last_joint_vel_cmd_time_
ros::NodeHandle	node_handle_
ros::ServiceServer	start_service_
double	status_interval_seconds_
ros::Timer	status_timer_
ros::ServiceServer	stop_service_
tf::TransformListener	tf_listener_
ros::Publisher	tool_position_publisher_

Detailed Description

Definition at line 40 of file jaco_arm.h.

Constructor & Destructor Documentation

jaco::JacoArm::JacoArm	(	JacoComm &	arm,
		const ros::NodeHandle &	node_handle
	)

Definition at line 19 of file jaco_arm.cpp.

jaco::JacoArm::~JacoArm ( )

Definition at line 62 of file jaco_arm.cpp.

Member Function Documentation

void jaco::JacoArm::cartesianVelocityCallback ( const geometry_msgs::TwistStampedConstPtr & cartesian_vel )

Definition at line 126 of file jaco_arm.cpp.

void jaco::JacoArm::cartesianVelocityTimer ( const ros::TimerEvent & ) [private]

Definition at line 148 of file jaco_arm.cpp.

bool jaco::JacoArm::homeArmServiceCallback	(	jaco_msgs::HomeArm::Request &	req,
		jaco_msgs::HomeArm::Response &	res
	)

Definition at line 67 of file jaco_arm.cpp.

void jaco::JacoArm::jointVelocityCallback ( const jaco_msgs::JointVelocityConstPtr & joint_vel )

Definition at line 76 of file jaco_arm.cpp.

void jaco::JacoArm::jointVelocityTimer ( const ros::TimerEvent & ) [private]

Definition at line 168 of file jaco_arm.cpp.

void jaco::JacoArm::positionTimer ( const ros::TimerEvent & ) [private]

void jaco::JacoArm::publishFingerPosition ( void ) [private]

Publishes the current finger positions.

Definition at line 265 of file jaco_arm.cpp.

void jaco::JacoArm::publishJointAngles ( void ) [private]

Publishes the current joint angles.

Joint angles are published in both their raw state as obtained from the arm (JointAngles), and transformed & converted to radians (joint_state) as per the Jaco Kinematics PDF.

JointState will eventually also publish the velocity and effort for each joint, when this data is made available by the C++ API. Currenty velocity and effort are reported as being zero (0.0) for all joints.

Definition at line 199 of file jaco_arm.cpp.

void jaco::JacoArm::publishToolPosition ( void ) [private]

Publishes the current cartesian coordinates.

Definition at line 250 of file jaco_arm.cpp.