CAN_compatibility_arm_node.cpp File Reference

Contains the main for the EtherCAT wrapper. We start the publishers / subscribers in this node. They all share the same CANCompatibilityArm object, this way the subscriber can update the hand properties, while the publishers publish up to date data. The diagnostics and the other publisher are started in two different threads, to allow them to be published at different frequencies. More...

#include <ros/ros.h>
#include <boost/thread/thread.hpp>
#include <boost/smart_ptr.hpp>
#include "sr_hand/sr_subscriber.h"
#include "sr_hand/sr_publisher.h"
#include "sr_hand/hand/CAN_compatibility_arm.hpp"

Include dependency graph for CAN_compatibility_arm_node.cpp:

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Functions
int	main (int argc, char **argv)
void	run_publisher (boost::shared_ptr< SRPublisher > shadowarm_pub)

Detailed Description

Contains the main for the EtherCAT wrapper. We start the publishers / subscribers in this node. They all share the same CANCompatibilityArm object, this way the subscriber can update the hand properties, while the publishers publish up to date data. The diagnostics and the other publisher are started in two different threads, to allow them to be published at different frequencies.

Author

Ugo Cupcic ugo@s.nosp@m.hado.nosp@m.wrobo.nosp@m.t.co.nosp@m.m

Date

Mon Aug 22 11:17:33 2011

Definition in file CAN_compatibility_arm_node.cpp.

Function Documentation

main()

int main	(	int	argc,
		char **	argv
	)

The main function initializes the links with the robot, initializes this ROS subscriber and sets the different callbacks. This ROS subscriber will listen for new commands and send them to the robot.

Parameters

argc
argv

Returns

0 on success

Definition at line 68 of file CAN_compatibility_arm_node.cpp.

run_publisher()

void run_publisher

(

boost::shared_ptr< SRPublisher >

shadowarm_pub

)

Definition at line 48 of file CAN_compatibility_arm_node.cpp.