Executes the brake test for all joints. A brake test is triggered via service call. More...

#include <canopen_braketest_adapter.h>

Public Member Functions
	CANOpenBrakeTestAdapter (ros::NodeHandle &nh)

Private Types
using	BrakeTestStatus = std::pair< int8_t, std::string >

Private Member Functions
void	checkBrakeTestResultForNode (const std::string &node_name)

ros::Duration	getBrakeTestDuration (const std::string &node_name)

BrakeTestStatus	getBrakeTestStatusForNode (const std::string &node_name)

ros::Duration	getMaximumBrakeTestDuration (const std::vector< std::string > &node_names)

std::vector< std::string >	getNodeNames ()

void	triggerBrakeTestForNode (const std::string &node_name)

bool	triggerBrakeTests (BrakeTest::Request &req, BrakeTest::Response &response)

Private Attributes
ros::ServiceServer	brake_test_srv_
	Service which triggers brake tests for all joints. More...

ros::ServiceClient	canopen_srv_get_client_

ros::ServiceClient	canopen_srv_set_client_

ros::NodeHandle	nh_

Detailed Description

Executes the brake test for all joints. A brake test is triggered via service call.

Definition at line 37 of file canopen_braketest_adapter.h.

Member Typedef Documentation

◆ BrakeTestStatus

using prbt_hardware_support::CANOpenBrakeTestAdapter::BrakeTestStatus = std::pair<int8_t, std::string>

private

Definition at line 43 of file canopen_braketest_adapter.h.

Constructor & Destructor Documentation

◆ CANOpenBrakeTestAdapter()

prbt_hardware_support::CANOpenBrakeTestAdapter::CANOpenBrakeTestAdapter ( ros::NodeHandle & nh )

Definition at line 46 of file canopen_braketest_adapter.cpp.

Member Function Documentation

◆ checkBrakeTestResultForNode()

void prbt_hardware_support::CANOpenBrakeTestAdapter::checkBrakeTestResultForNode ( const std::string & node_name )

private

Definition at line 143 of file canopen_braketest_adapter.cpp.

◆ getBrakeTestDuration()

ros::Duration prbt_hardware_support::CANOpenBrakeTestAdapter::getBrakeTestDuration ( const std::string & node_name )

private

Definition at line 64 of file canopen_braketest_adapter.cpp.

◆ getBrakeTestStatusForNode()

CANOpenBrakeTestAdapter::BrakeTestStatus prbt_hardware_support::CANOpenBrakeTestAdapter::getBrakeTestStatusForNode ( const std::string & node_name )

private

Definition at line 117 of file canopen_braketest_adapter.cpp.