#include <dxl_motors_builder.h>
Public Member Functions | |
DxlMotorsBuilder (ros::NodeHandle &nh) | |
void | read () |
void | registerHandles (hardware_interface::JointStateInterface &joint_state_interface, hardware_interface::PositionJointInterface &position_interface, hardware_interface::PosVelJointInterface &posvel_interface) |
void | write () |
void | writeToMotor (int motor_id, double position, double velocity) |
Private Member Functions | |
void | buildMotors () |
void | fetchParams () |
void | loadSpecs () |
void | openPort () |
void | pingMotors () |
bool | setTorque (bool flag) |
void | speakMsg (std::string msg, int sleep_time) |
bool | torqueServiceCB (std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res) |
void | write (std::vector< dxl::motor > &motors) |
Private Attributes | |
boost::mutex | comm_mutex_ |
int | dxl_baudrate_ = 0 |
dxl::DxlInterface | dxl_interface_ |
XmlRpc::XmlRpcValue | dxl_joints_config_ |
std::string | dxl_port_ |
XmlRpc::XmlRpcValue | dxl_spec_config_ |
ros::Publisher | espeak_pub_ |
int | failed_reads_ = 0 |
int | failed_writes_ = 0 |
std::vector< hardware_interface::JointStateHandle > | joint_state_handles_ |
bool | load_dxl_hw_ = true |
std::vector< dxl::motor > | motors_ |
ros::NodeHandle * | nh_ |
std::vector< hardware_interface::JointHandle > | pos_handles_ |
std::vector< hardware_interface::PosVelJointHandle > | posvel_handles_ |
float | protocol_ = 0 |
std::map< uint16_t, dxl::spec > | specs_ |
ros::ServiceServer | torque_srv_ |
Definition at line 31 of file dxl_motors_builder.h.
armadillo2_hw::DxlMotorsBuilder::DxlMotorsBuilder | ( | ros::NodeHandle & | nh | ) |
Definition at line 8 of file dxl_motors_builder.cpp.
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Definition at line 516 of file dxl_motors_builder.cpp.
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Definition at line 448 of file dxl_motors_builder.cpp.
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Definition at line 154 of file dxl_motors_builder.cpp.
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Definition at line 618 of file dxl_motors_builder.cpp.
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Definition at line 125 of file dxl_motors_builder.cpp.
void armadillo2_hw::DxlMotorsBuilder::read | ( | ) |
Definition at line 41 of file dxl_motors_builder.cpp.
void armadillo2_hw::DxlMotorsBuilder::registerHandles | ( | hardware_interface::JointStateInterface & | joint_state_interface, |
hardware_interface::PositionJointInterface & | position_interface, | ||
hardware_interface::PosVelJointInterface & | posvel_interface | ||
) |
Definition at line 582 of file dxl_motors_builder.cpp.
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Definition at line 412 of file dxl_motors_builder.cpp.
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Definition at line 81 of file dxl_motors_builder.h.
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Definition at line 436 of file dxl_motors_builder.cpp.
void armadillo2_hw::DxlMotorsBuilder::write | ( | ) |
Definition at line 120 of file dxl_motors_builder.cpp.
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Definition at line 93 of file dxl_motors_builder.cpp.
void armadillo2_hw::DxlMotorsBuilder::writeToMotor | ( | int | motor_id, |
double | position, | ||
double | velocity | ||
) |
Definition at line 76 of file dxl_motors_builder.cpp.
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Definition at line 68 of file dxl_motors_builder.h.
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Definition at line 56 of file dxl_motors_builder.h.
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Definition at line 62 of file dxl_motors_builder.h.
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Definition at line 63 of file dxl_motors_builder.h.
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Definition at line 57 of file dxl_motors_builder.h.
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Definition at line 63 of file dxl_motors_builder.h.
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Definition at line 66 of file dxl_motors_builder.h.
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Definition at line 58 of file dxl_motors_builder.h.
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Definition at line 58 of file dxl_motors_builder.h.
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Definition at line 52 of file dxl_motors_builder.h.
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Definition at line 60 of file dxl_motors_builder.h.
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Definition at line 64 of file dxl_motors_builder.h.
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Definition at line 49 of file dxl_motors_builder.h.
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Definition at line 54 of file dxl_motors_builder.h.
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Definition at line 53 of file dxl_motors_builder.h.
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Definition at line 59 of file dxl_motors_builder.h.
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Definition at line 61 of file dxl_motors_builder.h.
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Definition at line 65 of file dxl_motors_builder.h.