MRP2HW Class Reference

#include <mrp2_hardware.h>

Inheritance diagram for MRP2HW:

Public Member Functions
void	callback (mrp2_hardware::ParametersConfig &config, uint32_t level)
void	estop_clear_callback (const std_msgs::Empty::ConstPtr &msg)
ros::Duration	getPeriod () const
ros::Time	getTime () const
	MRP2HW ()
void	positions_reset_callback (const std_msgs::Empty::ConstPtr &msg)
void	read ()
bool	start_callback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
bool	stop_callback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
void	write ()
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 bool	init (ros::NodeHandle &, ros::NodeHandle &)
virtual bool	prepareSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)
virtual void	read (const ros::Time &, const ros::Duration &)
virtual void	read (const ros::Time &, const ros::Duration &)
virtual SwitchState	switchResult (const ControllerInfo &) const
virtual SwitchState	switchResult () const
virtual void	write (const ros::Time &, const ros::Duration &)
virtual void	write (const ros::Time &, const ros::Duration &)
virtual	~RobotHW ()=default
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	estop_release
Public Attributes inherited from hardware_interface::RobotHW
	DONE
	ERROR
	ONGOING

Private Member Functions
double	_ftod (float fValue)

Private Attributes
ros::Publisher	aux_lights_pub
ros::Publisher	batt_high_pub
ros::Publisher	batt_low_pub
std::vector< int >	bumper_states
ros::Publisher	bumpers_pub
double	cmd_ [2]
boost::mutex	connect_mutex_
ros::Publisher	controller_pub
ros::Time	current_time
std::vector< int >	diags
boost::recursive_mutex	dynamic_reconfigure_mutex_
double	eff_ [2]
ros::Publisher	estop_btn_pub
ros::Subscriber	estop_clear_sub
ros::Publisher	estop_pub
bool	estop_state
dynamic_reconfigure::Server< mrp2_hardware::ParametersConfig >::CallbackType	f
hardware_interface::ImuSensorInterface	imu_sens_interface_
mrp2_hardware::ParametersConfig	init_config
hardware_interface::JointStateInterface	jnt_state_interface_
hardware_interface::VelocityJointInterface	jnt_vel_interface_
ros::Time	last_time
ros::Publisher	motor_stall_l_pub
ros::Publisher	motor_stall_r_pub
ros::NodeHandle	nh_
double	pos_ [2]
double	pos_left
ros::Subscriber	pos_reset_sub
double	pos_right
bool	publish_feed
bool	publish_pos
bool	publish_ref
MRP2_Serial *	robot_serial
bool	running_
ros::Publisher	sep_cmd_vel_pub
dynamic_reconfigure::Server< mrp2_hardware::ParametersConfig >	server
std::vector< int >	speeds
ros::ServiceServer	start_srv_
ros::ServiceServer	stop_srv_
bool	sym_tuning
double	vel_ [2]

Additional Inherited Members
Public Types inherited from hardware_interface::RobotHW
enum	SwitchState
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
Protected Attributes inherited from hardware_interface::InterfaceManager
std::vector< ResourceManagerBase *>	interface_destruction_list_
InterfaceManagerVector	interface_managers_
InterfaceMap	interfaces_
InterfaceMap	interfaces_combo_
SizeMap	num_ifaces_registered_
ResourceMap	resources_

Detailed Description

Definition at line 36 of file mrp2_hardware.h.

Constructor & Destructor Documentation

MRP2HW()

MRP2HW::MRP2HW ( )

inline

Definition at line 39 of file mrp2_hardware.h.

Member Function Documentation

_ftod()

double MRP2HW::_ftod ( float  fValue )

inlineprivate

Definition at line 355 of file mrp2_hardware.h.

callback()

void MRP2HW::callback ( mrp2_hardware::ParametersConfig &  config, uint32_t  level  )

inline

Definition at line 294 of file mrp2_hardware.h.

estop_clear_callback()

void MRP2HW::estop_clear_callback ( const std_msgs::Empty::ConstPtr &  msg )

inline

Definition at line 288 of file mrp2_hardware.h.

getPeriod()

ros::Duration MRP2HW::getPeriod ( ) const

inline

Definition at line 136 of file mrp2_hardware.h.

getTime()

ros::Time MRP2HW::getTime ( ) const

inline

Definition at line 135 of file mrp2_hardware.h.

positions_reset_callback()

void MRP2HW::positions_reset_callback ( const std_msgs::Empty::ConstPtr &  msg )

inline

Definition at line 282 of file mrp2_hardware.h.

read()

void MRP2HW::read ( )

inline

Definition at line 140 of file mrp2_hardware.h.

start_callback()

bool MRP2HW::start_callback ( std_srvs::Empty::Request &  req, std_srvs::Empty::Response &  res  )

inline

Definition at line 270 of file mrp2_hardware.h.

stop_callback()

bool MRP2HW::stop_callback ( std_srvs::Empty::Request &  req, std_srvs::Empty::Response &  res  )

inline

Definition at line 276 of file mrp2_hardware.h.

write()

void MRP2HW::write ( )

inline

Definition at line 234 of file mrp2_hardware.h.

Member Data Documentation

aux_lights_pub

ros::Publisher MRP2HW::aux_lights_pub

private

Definition at line 339 of file mrp2_hardware.h.

batt_high_pub

ros::Publisher MRP2HW::batt_high_pub

private

Definition at line 337 of file mrp2_hardware.h.

batt_low_pub

ros::Publisher MRP2HW::batt_low_pub

private

Definition at line 336 of file mrp2_hardware.h.

bumper_states

std::vector<int> MRP2HW::bumper_states

private

Definition at line 324 of file mrp2_hardware.h.

bumpers_pub

ros::Publisher MRP2HW::bumpers_pub

private

Definition at line 330 of file mrp2_hardware.h.

cmd_

double MRP2HW::cmd_[2]

private

Definition at line 311 of file mrp2_hardware.h.

connect_mutex_

boost::mutex MRP2HW::connect_mutex_

private

Definition at line 351 of file mrp2_hardware.h.

controller_pub

ros::Publisher MRP2HW::controller_pub

private

Definition at line 338 of file mrp2_hardware.h.

current_time

ros::Time MRP2HW::current_time

private

Definition at line 346 of file mrp2_hardware.h.

diags

std::vector<int> MRP2HW::diags

private

Definition at line 324 of file mrp2_hardware.h.

dynamic_reconfigure_mutex_

boost::recursive_mutex MRP2HW::dynamic_reconfigure_mutex_

private

Definition at line 350 of file mrp2_hardware.h.

eff_

double MRP2HW::eff_[2]

private

Definition at line 314 of file mrp2_hardware.h.

estop_btn_pub

ros::Publisher MRP2HW::estop_btn_pub

private

Definition at line 333 of file mrp2_hardware.h.

estop_clear_sub

ros::Subscriber MRP2HW::estop_clear_sub

private

Definition at line 344 of file mrp2_hardware.h.

estop_pub

ros::Publisher MRP2HW::estop_pub

private

Definition at line 332 of file mrp2_hardware.h.

estop_release

bool MRP2HW::estop_release

Definition at line 138 of file mrp2_hardware.h.

estop_state

bool MRP2HW::estop_state

private

Definition at line 318 of file mrp2_hardware.h.

f

dynamic_reconfigure::Server<mrp2_hardware::ParametersConfig>::CallbackType MRP2HW::f

private

Definition at line 349 of file mrp2_hardware.h.

imu_sens_interface_

hardware_interface::ImuSensorInterface MRP2HW::imu_sens_interface_

private

Definition at line 310 of file mrp2_hardware.h.

init_config

mrp2_hardware::ParametersConfig MRP2HW::init_config

private

Definition at line 353 of file mrp2_hardware.h.

jnt_state_interface_

hardware_interface::JointStateInterface MRP2HW::jnt_state_interface_

private

Definition at line 308 of file mrp2_hardware.h.

jnt_vel_interface_

hardware_interface::VelocityJointInterface MRP2HW::jnt_vel_interface_

private

Definition at line 309 of file mrp2_hardware.h.

last_time

ros::Time MRP2HW::last_time

private

Definition at line 346 of file mrp2_hardware.h.

motor_stall_l_pub

ros::Publisher MRP2HW::motor_stall_l_pub

private

Definition at line 334 of file mrp2_hardware.h.

motor_stall_r_pub

ros::Publisher MRP2HW::motor_stall_r_pub

private

Definition at line 335 of file mrp2_hardware.h.

nh_

ros::NodeHandle MRP2HW::nh_

private

Definition at line 326 of file mrp2_hardware.h.

pos_

double MRP2HW::pos_[2]

private

Definition at line 312 of file mrp2_hardware.h.

pos_left

double MRP2HW::pos_left

private

Definition at line 320 of file mrp2_hardware.h.

pos_reset_sub

ros::Subscriber MRP2HW::pos_reset_sub

private

Definition at line 343 of file mrp2_hardware.h.

pos_right

double MRP2HW::pos_right

private

Definition at line 320 of file mrp2_hardware.h.

publish_feed

bool MRP2HW::publish_feed

private

Definition at line 317 of file mrp2_hardware.h.

publish_pos

bool MRP2HW::publish_pos

private

Definition at line 317 of file mrp2_hardware.h.

publish_ref

bool MRP2HW::publish_ref

private

Definition at line 317 of file mrp2_hardware.h.

robot_serial

MRP2_Serial* MRP2HW::robot_serial

private

Definition at line 323 of file mrp2_hardware.h.

running_

bool MRP2HW::running_

private

Definition at line 315 of file mrp2_hardware.h.

sep_cmd_vel_pub

ros::Publisher MRP2HW::sep_cmd_vel_pub

private

Definition at line 341 of file mrp2_hardware.h.

server

dynamic_reconfigure::Server<mrp2_hardware::ParametersConfig> MRP2HW::server

private

Definition at line 348 of file mrp2_hardware.h.

speeds

std::vector<int> MRP2HW::speeds

private

Definition at line 324 of file mrp2_hardware.h.

start_srv_

ros::ServiceServer MRP2HW::start_srv_

private

Definition at line 327 of file mrp2_hardware.h.

stop_srv_

ros::ServiceServer MRP2HW::stop_srv_

private

Definition at line 328 of file mrp2_hardware.h.

sym_tuning

bool MRP2HW::sym_tuning

private

Definition at line 317 of file mrp2_hardware.h.

vel_

double MRP2HW::vel_[2]

private

Definition at line 313 of file mrp2_hardware.h.

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

• mrp2_hardware.h