#include <seed_r7_robot_hardware.h>
Classes | |
struct | RobotStatus |
Public Member Functions | |
void | getBatteryVoltage (const ros::TimerEvent &_event) |
double | getPeriod () |
virtual bool | init (ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh) |
void | onWheelServo (bool _value) |
virtual void | read (const ros::Time &time, const ros::Duration &period) |
void | readPos (const ros::Time &time, const ros::Duration &period, bool update) |
RobotHW () | |
void | runHandScript (uint8_t _number, uint16_t _script, uint8_t _current) |
void | runLedScript (uint8_t _number, uint16_t _script) |
void | setDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat) |
void | setRobotStatus () |
void | turnWheel (std::vector< int16_t > &_vel) |
virtual void | write (const ros::Time &time, const ros::Duration &period) |
void | writeWheel (const std::vector< std::string > &_names, const std::vector< int16_t > &_vel, double _tm_sec) |
virtual | ~RobotHW () |
Public Member Functions inherited from hardware_interface::RobotHW | |
virtual bool | checkForConflict (const std::list< ControllerInfo > &info) const |
virtual bool | checkForConflict (const std::list< ControllerInfo > &info) const |
virtual void | doSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &) |
virtual void | doSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &) |
virtual bool | prepareSwitch (const std::list< ControllerInfo > &start_list, const std::list< ControllerInfo > &stop_list) |
virtual bool | prepareSwitch (const std::list< ControllerInfo > &start_list, const std::list< ControllerInfo > &stop_list) |
RobotHW () | |
Public Member Functions inherited from hardware_interface::InterfaceManager | |
T * | get () |
std::vector< std::string > | getInterfaceResources (std::string iface_type) const |
std::vector< std::string > | getNames () const |
void | registerInterface (T *iface) |
void | registerInterfaceManager (InterfaceManager *iface_man) |
Public Attributes | |
bool | comm_err_ |
struct robot_hardware::RobotHW::RobotStatus | robot_status_ |
Protected Types | |
enum | ControlMethod { EFFORT, POSITION, POSITION_PID, VELOCITY, VELOCITY_PID } |
enum | JointType { NONE, PRISMATIC, ROTATIONAL, CONTINUOUS, FIXED } |
Protected Types inherited from hardware_interface::InterfaceManager | |
typedef std::vector< InterfaceManager * > | InterfaceManagerVector |
typedef std::map< std::string, void * > | InterfaceMap |
typedef std::map< std::string, std::vector< std::string > > | ResourceMap |
typedef std::map< std::string, size_t > | SizeMap |
Private Member Functions | |
bool | resetRobotStatusCallback (seed_r7_ros_controller::ResetRobotStatus::Request &_req, seed_r7_ros_controller::ResetRobotStatus::Response &_res) |
Private Attributes | |
ros::ServiceServer | reset_robot_status_server_ |
Definition at line 71 of file seed_r7_robot_hardware.h.
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protected |
Enumerator | |
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EFFORT | |
POSITION | |
POSITION_PID | |
VELOCITY | |
VELOCITY_PID |
Definition at line 115 of file seed_r7_robot_hardware.h.
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Enumerator | |
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NONE | |
PRISMATIC | |
ROTATIONAL | |
CONTINUOUS | |
FIXED |
Definition at line 116 of file seed_r7_robot_hardware.h.
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inline |
Definition at line 74 of file seed_r7_robot_hardware.h.
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inlinevirtual |
Reimplemented from hardware_interface::RobotHW.
Definition at line 76 of file seed_r7_robot_hardware.h.
void robot_hardware::RobotHW::getBatteryVoltage | ( | const ros::TimerEvent & | _event | ) |
Definition at line 374 of file seed_r7_robot_hardware.cpp.
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inline |
Definition at line 85 of file seed_r7_robot_hardware.h.
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Reimplemented from hardware_interface::RobotHW.
Definition at line 43 of file seed_r7_robot_hardware.cpp.
void robot_hardware::RobotHW::onWheelServo | ( | bool | _value | ) |
Definition at line 367 of file seed_r7_robot_hardware.cpp.
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Reimplemented from hardware_interface::RobotHW.
Definition at line 254 of file seed_r7_robot_hardware.cpp.
void robot_hardware::RobotHW::readPos | ( | const ros::Time & | time, |
const ros::Duration & | period, | ||
bool | update | ||
) |
Definition at line 190 of file seed_r7_robot_hardware.cpp.
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private |
Definition at line 472 of file seed_r7_robot_hardware.cpp.
void robot_hardware::RobotHW::runHandScript | ( | uint8_t | _number, |
uint16_t | _script, | ||
uint8_t | _current | ||
) |
Definition at line 347 of file seed_r7_robot_hardware.cpp.
void robot_hardware::RobotHW::runLedScript | ( | uint8_t | _number, |
uint16_t | _script | ||
) |
Definition at line 385 of file seed_r7_robot_hardware.cpp.
void robot_hardware::RobotHW::setDiagnostics | ( | diagnostic_updater::DiagnosticStatusWrapper & | stat | ) |
Definition at line 424 of file seed_r7_robot_hardware.cpp.
void robot_hardware::RobotHW::setRobotStatus | ( | ) |
Definition at line 392 of file seed_r7_robot_hardware.cpp.
void robot_hardware::RobotHW::turnWheel | ( | std::vector< int16_t > & | _vel | ) |
Definition at line 360 of file seed_r7_robot_hardware.cpp.
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virtual |
Reimplemented from hardware_interface::RobotHW.
Definition at line 259 of file seed_r7_robot_hardware.cpp.
void robot_hardware::RobotHW::writeWheel | ( | const std::vector< std::string > & | _names, |
const std::vector< int16_t > & | _vel, | ||
double | _tm_sec | ||
) |
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Definition at line 149 of file seed_r7_robot_hardware.h.
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Definition at line 159 of file seed_r7_robot_hardware.h.
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Definition at line 158 of file seed_r7_robot_hardware.h.
bool robot_hardware::RobotHW::comm_err_ |
Definition at line 97 of file seed_r7_robot_hardware.h.
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Definition at line 147 of file seed_r7_robot_hardware.h.
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Definition at line 137 of file seed_r7_robot_hardware.h.
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Definition at line 110 of file seed_r7_robot_hardware.h.
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Definition at line 156 of file seed_r7_robot_hardware.h.
struct robot_hardware::RobotHW::RobotStatus robot_hardware::RobotHW::robot_status_ |
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Definition at line 162 of file seed_r7_robot_hardware.h.
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Definition at line 138 of file seed_r7_robot_hardware.h.
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Definition at line 145 of file seed_r7_robot_hardware.h.