#include <SchunkCanopenNode.h>

Public Member Functions
	SchunkCanopenNode ()

Private Member Functions
void	cancelCB (actionlib::ServerGoalHandle< control_msgs::FollowJointTrajectoryAction > gh)

bool	closeBrakes (std_srvs::TriggerRequest &req, std_srvs::TriggerResponse &resp)
	Close the brakes on all nodes. Use this when the device is standing still for a longer time to reduce hight motor currents for doing nothing. More...

bool	enableNodes (std_srvs::TriggerRequest &req, std_srvs::TriggerResponse &resp)
	This service call enables the devices after a fault, a quick stop or simply when the brakes have been closed by hand (via the close_brakes service call) More...

void	goalCB (actionlib::ServerGoalHandle< control_msgs::FollowJointTrajectoryAction > gh)

bool	homeAllNodes (schunk_canopen_driver::HomeAllRequest &req, schunk_canopen_driver::HomeAllResponse &resp)
	Perform a reset offset for all nodes. You should call this service, after driving the devices to their zero position manually. More...

bool	homeNodesCanIds (schunk_canopen_driver::HomeWithIDsRequest &req, schunk_canopen_driver::HomeWithIDsResponse &resp)
	Perform a reset offset for a given list of nodes. You should call this service, after driving the device to it's zero position manually. Only the nodes given in the node list are affected by this service call. The position of all unlisted joints is irrelevant. More...

bool	homeNodesJointNames (schunk_canopen_driver::HomeWithJointNamesRequest &req, schunk_canopen_driver::HomeWithJointNamesResponse &resp)
	Perform a reset offset for a given list of nodes. You should call this service, after driving the device to it's zero position manually. Only the nodes given in the node list are affected by this service call. The position of all unlisted joints is irrelevant. More...

void	initDevices ()
	Function that actually initializes the devices. Will get called either on startup (if autostart is allowed) or by the init_devices service call. More...

bool	initDevicesCb (std_srvs::TriggerRequest &req, std_srvs::TriggerResponse &resp)
	Triggers initialization of the canopen devices. More...

bool	quickStopNodes (std_srvs::TriggerRequest &req, std_srvs::TriggerResponse &resp)
	Performs a quick stop on all nodes. You should prefer this service call to aborting the followJointTrajectory action, as this will instantaniously stop the robot's movement without resulting in a fault state. More...

void	rosControlLoop ()
	When using ros_control this will perform the control loop in a separate thread. More...

void	trajThread (actionlib::ServerGoalHandle< control_msgs::FollowJointTrajectoryAction > &gh)
	Control loop thread when not using ros_control. More...

Private Attributes
actionlib::ActionServer< control_msgs::FollowJointTrajectoryAction >	m_action_server

std::vector< DS402Group::Ptr >	m_chain_handles

ros::ServiceServer	m_close_brakes_service

CanOpenController::Ptr	m_controller

boost::shared_ptr< controller_manager::ControllerManager >	m_controller_manager

ros::Publisher	m_current_pub

ros::ServiceServer	m_enable_service

boost::shared_ptr< SchunkCanopenHardwareInterface >	m_hardware_interface

bool	m_has_goal

ros::ServiceServer	m_home_service_all

ros::ServiceServer	m_home_service_canopen_ids

ros::ServiceServer	m_home_service_joint_names

bool	m_homing_active

ros::ServiceServer	m_init_service

bool	m_is_enabled

std::map< std::string, uint8_t >	m_joint_name_mapping

ros::Publisher	m_joint_pub

bool	m_nodes_initialized

ds402::ProfilePositionModeConfiguration	m_ppm_config

ros::NodeHandle	m_priv_nh

ros::NodeHandle	m_pub_nh

ros::ServiceServer	m_quick_stop_service

boost::thread	m_ros_control_thread

std::string	m_traj_controller_name

boost::thread	m_traj_thread

bool	m_use_ros_control

bool	m_was_disabled

Detailed Description

Definition at line 47 of file SchunkCanopenNode.h.

Constructor & Destructor Documentation

SchunkCanopenNode::SchunkCanopenNode ( )

Definition at line 37 of file SchunkCanopenNode.cpp.

Member Function Documentation

void SchunkCanopenNode::cancelCB ( actionlib::ServerGoalHandle< control_msgs::FollowJointTrajectoryAction > gh )

private

Definition at line 476 of file SchunkCanopenNode.cpp.

bool SchunkCanopenNode::closeBrakes	(	std_srvs::TriggerRequest &	req,
		std_srvs::TriggerResponse &	resp
	)

private

Close the brakes on all nodes. Use this when the device is standing still for a longer time to reduce hight motor currents for doing nothing.

Remember to call the enable_nodes service when you want to go on.

Definition at line 604 of file SchunkCanopenNode.cpp.

bool SchunkCanopenNode::enableNodes	(	std_srvs::TriggerRequest &	req,
		std_srvs::TriggerResponse &	resp
	)

private

This service call enables the devices after a fault, a quick stop or simply when the brakes have been closed by hand (via the close_brakes service call)

Definition at line 584 of file SchunkCanopenNode.cpp.

void SchunkCanopenNode::goalCB ( actionlib::ServerGoalHandle< control_msgs::FollowJointTrajectoryAction > gh )

private

Definition at line 314 of file SchunkCanopenNode.cpp.

bool SchunkCanopenNode::homeAllNodes	(	schunk_canopen_driver::HomeAllRequest &	req,
		schunk_canopen_driver::HomeAllResponse &	resp
	)

private

Perform a reset offset for all nodes. You should call this service, after driving the devices to their zero position manually.

Definition at line 653 of file SchunkCanopenNode.cpp.

bool SchunkCanopenNode::homeNodesCanIds	(	schunk_canopen_driver::HomeWithIDsRequest &	req,
		schunk_canopen_driver::HomeWithIDsResponse &	resp
	)

private

Perform a reset offset for a given list of nodes. You should call this service, after driving the device to it's zero position manually. Only the nodes given in the node list are affected by this service call. The position of all unlisted joints is irrelevant.

Note: : This service call exists for canopen IDs (usually 3-8 for a lwa4p) and as an interface using the joint names from the URDF.

Definition at line 691 of file SchunkCanopenNode.cpp.

bool SchunkCanopenNode::homeNodesJointNames	(	schunk_canopen_driver::HomeWithJointNamesRequest &	req,
		schunk_canopen_driver::HomeWithJointNamesResponse &	resp
	)

private

Perform a reset offset for a given list of nodes. You should call this service, after driving the device to it's zero position manually. Only the nodes given in the node list are affected by this service call. The position of all unlisted joints is irrelevant.

Note: : This service call exists for canopen IDs (usually 3-8 for a lwa4p) and as an interface using the joint names from the URDF.

Definition at line 667 of file SchunkCanopenNode.cpp.

void SchunkCanopenNode::initDevices ( )

private

Function that actually initializes the devices. Will get called either on startup (if autostart is allowed) or by the init_devices service call.

Definition at line 237 of file SchunkCanopenNode.cpp.

bool SchunkCanopenNode::initDevicesCb	(	std_srvs::TriggerRequest &	req,
		std_srvs::TriggerResponse &	resp
	)

private

Triggers initialization of the canopen devices.

This service will only be advertised when the autostart parameter is set to false. Otherwise initialization will be triggered automatically at startup.

Definition at line 228 of file SchunkCanopenNode.cpp.

bool SchunkCanopenNode::quickStopNodes	(	std_srvs::TriggerRequest &	req,
		std_srvs::TriggerResponse &	resp
	)

private

Performs a quick stop on all nodes. You should prefer this service call to aborting the followJointTrajectory action, as this will instantaniously stop the robot's movement without resulting in a fault state.

Definition at line 626 of file SchunkCanopenNode.cpp.

void SchunkCanopenNode::rosControlLoop ( )

private

When using ros_control this will perform the control loop in a separate thread.

Definition at line 503 of file SchunkCanopenNode.cpp.

void SchunkCanopenNode::trajThread ( actionlib::ServerGoalHandle< control_msgs::FollowJointTrajectoryAction > & gh )

private

Control loop thread when not using ros_control.

Definition at line 348 of file SchunkCanopenNode.cpp.

Member Data Documentation

actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction> SchunkCanopenNode::m_action_server

private

Definition at line 139 of file SchunkCanopenNode.h.

std::vector<DS402Group::Ptr> SchunkCanopenNode::m_chain_handles

private

Definition at line 154 of file SchunkCanopenNode.h.

ros::ServiceServer SchunkCanopenNode::m_close_brakes_service

private

Definition at line 141 of file SchunkCanopenNode.h.

CanOpenController::Ptr SchunkCanopenNode::m_controller

private

Definition at line 152 of file SchunkCanopenNode.h.

boost::shared_ptr<controller_manager::ControllerManager> SchunkCanopenNode::m_controller_manager

private

Definition at line 163 of file SchunkCanopenNode.h.

ros::Publisher SchunkCanopenNode::m_current_pub

private

Definition at line 149 of file SchunkCanopenNode.h.

ros::ServiceServer SchunkCanopenNode::m_enable_service

private

Definition at line 140 of file SchunkCanopenNode.h.

boost::shared_ptr<SchunkCanopenHardwareInterface> SchunkCanopenNode::m_hardware_interface

private

Definition at line 162 of file SchunkCanopenNode.h.

bool SchunkCanopenNode::m_has_goal

private

Definition at line 156 of file SchunkCanopenNode.h.

ros::ServiceServer SchunkCanopenNode::m_home_service_all

private

Definition at line 143 of file SchunkCanopenNode.h.

ros::ServiceServer SchunkCanopenNode::m_home_service_canopen_ids

private

Definition at line 145 of file SchunkCanopenNode.h.

ros::ServiceServer SchunkCanopenNode::m_home_service_joint_names

private

Definition at line 144 of file SchunkCanopenNode.h.

bool SchunkCanopenNode::m_homing_active

private

Definition at line 167 of file SchunkCanopenNode.h.

ros::ServiceServer SchunkCanopenNode::m_init_service

private

Definition at line 146 of file SchunkCanopenNode.h.

bool SchunkCanopenNode::m_is_enabled

private

Definition at line 166 of file SchunkCanopenNode.h.

std::map<std::string, uint8_t> SchunkCanopenNode::m_joint_name_mapping

private

Definition at line 155 of file SchunkCanopenNode.h.

ros::Publisher SchunkCanopenNode::m_joint_pub

private

Definition at line 148 of file SchunkCanopenNode.h.

bool SchunkCanopenNode::m_nodes_initialized

private

Definition at line 170 of file SchunkCanopenNode.h.

ds402::ProfilePositionModeConfiguration SchunkCanopenNode::m_ppm_config

private

Definition at line 169 of file SchunkCanopenNode.h.

ros::NodeHandle SchunkCanopenNode::m_priv_nh

private

Definition at line 54 of file SchunkCanopenNode.h.

ros::NodeHandle SchunkCanopenNode::m_pub_nh

private

Definition at line 55 of file SchunkCanopenNode.h.

ros::ServiceServer SchunkCanopenNode::m_quick_stop_service

private

Definition at line 142 of file SchunkCanopenNode.h.

boost::thread SchunkCanopenNode::m_ros_control_thread

private

Definition at line 158 of file SchunkCanopenNode.h.

std::string SchunkCanopenNode::m_traj_controller_name

private

Definition at line 172 of file SchunkCanopenNode.h.

boost::thread SchunkCanopenNode::m_traj_thread

private

Definition at line 157 of file SchunkCanopenNode.h.

bool SchunkCanopenNode::m_use_ros_control

private

Definition at line 160 of file SchunkCanopenNode.h.

bool SchunkCanopenNode::m_was_disabled

private

Definition at line 165 of file SchunkCanopenNode.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation