65 ROS_ERROR(
"Failed to send CHECK_MOTION_READY command");
80 ROS_ERROR(
"Failed to send TRAJ_MODE command");
84 if (reply.
getResult() != MotionReplyResults::SUCCESS)
99 ROS_ERROR(
"Failed to send STOP_MOTION command");
103 if (reply.
getResult() != MotionReplyResults::SUCCESS)
125 ROS_ERROR(
"Failed to send MotionCtrl message");
129 ctrl_reply.
init(res);
137 std::ostringstream ss;
bool init(industrial::simple_message::SimpleMessage &msg)
Initializes message from a simple message.
industrial::shared_types::shared_int getSubcode() const
Returns motion-control result sub-code.
bool sendAndReceive(MotionControlCmd command, MotionReply &reply)
virtual bool toRequest(industrial::simple_message::SimpleMessage &msg)
Enumeration of motion reply result codes.
bool sendAndReceiveMsg(industrial::simple_message::SimpleMessage &send, industrial::simple_message::SimpleMessage &recv, bool verbose=false)
void copyFrom(MotionReply &src)
Copies the passed in value.
motoman::simple_message::motion_reply::MotionReply reply_
bool init(SmplMsgConnection *connection, int robot_id)
bool setTrajMode(bool enable)
float data[ROS_MAX_JOINT]
industrial::shared_types::shared_int getResult() const
Returns motion-control result code.
static std::string getErrorString(const MotionReply &reply)
Enumeration of motion control command codes.
Class encapsulated motoman motion control message generation methods (either to or from a industrial:...
Class encapsulated motion control reply data. These messages are sent by the FS100 controller in resp...
static std::string getSubcodeString(industrial::shared_types::shared_int code)
SmplMsgConnection * connection_
Class encapsulated motoman motion reply message generation methods (either to or from a industrial::s...
void init()
Initializes a empty motion control command.
#define ROS_ERROR_STREAM(args)
bool init(industrial::simple_message::SimpleMessage &msg)
Initializes message from a simple message.
static std::string getResultString(industrial::shared_types::shared_int code)
Class encapsulated motion control data. These control messages are required to download command-traje...